The important part is that the people of Middle-earth get to live happily ever after - Frodo/Sam's quest was a sacrifice. Also, with the burden of the Ring on their minds, they found peace and spiritual healing in the Undying Lands - they wouldn't have found that in the Shire. It was the happiest possible ending, given the last effects of the Ring on those who bear it.
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...take counsel with thyself, and remember who and what thou art.
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