This is a very hard problem. For me it boiled down to this: I really wanted to work at a particular company. Even though what they offered was (slightly) below my expectations, I accepted it. I didn't want to haggle because I knew this was one of the few places I would be happy working and was afraid of losing that opportunity.
This is the tough one that we all face, will asking them to move "slightly" cause you to lose the opportunity.
Having been on the other side of the hiring process, I doubt it. Finding good candidates is hard, by the time that you are making an offer you are already much more invested in the candidate as a potential employee than you are in other candidates to whom you have not yet made an offer.
But, (there's always a but!) if you are happy working there, and that's the result you wanted and needed this this was a good outcome for you. Congratulations!
