Not trying to be an apologist here but I remember when the first H-P Deskjet appeared. I went to a launch, in fact (why, where and how are now lost in the mists of time.) At the time, laser printers were priced well into four figures and the Deskjet was (still nearly into four figures) the only other way to get (nearly) laser-quality output.
So now the machines cost -- at the low end -- nearly nothing, often still include scanners and enough onboard smarts to be able to function as a standalone copier and all sorts of other stuff and, barring the sudden realignment of the manufacturers into the charity sector, apparently it's unreasonable of them to try to make money from their customers.
The right way to handle the costs of this stuff is to factor everything in then assess the cost per page for your printed output over the life of the printer. If it's now the case, particularly at the consumer end, that the majority of the cost is in the ink cartridges then that just makes the calculation easier, surely?
[Devil's Advocate Mode OFF]
Disclaimer: I also own an HP printer, and also complain bitterly about the cost of the ink cartridges, particularly as I print little enough that the blasted things dry out before they empty...