Yes, you might well prefer that - but you can't get there from here. Coming from a non-tipping country (yes, there are some, just try travelling around Australia or New Zealand) and moving to the US, I certainly found the tip culture annoying. But its how staff get paid. If you don't tip them, you're not having any impact on the overwhelming culture, you're really just stealing from the service staff who are not paid a real wage. What do you think happens if your waiter goes to their boss and says "this guy didn't tip me, he said you should pay more instead". Its part of the social contract; you go to a restaurant, you tip.