I Feel Worried About Paying Off My Student Loans

I'm 21, S40,000 in debt, and currently working a low paying job. I'm highly disappointed in my life and the fact that I did not save for college beforehand. Any small amount would've made a significant difference. I look at my boyfriend and his family... they prepared their children for this. Many of them graduated with +$20,000 in their accounts. For the rest of my life I will be burdened by this debt. How can anyone live like this?