For me, a suspended back backpack is the only way. Currently wearing a Marmot Zephyr. More of a pain to load than mess bags, but way more secure and comfortable on the back.

I just don't like racks unless I'm going on a Looong ride with some heavy stuff.

I do have one bike outfitted with panniers if I know I'm going to buy more than a couple meals worth of food at the store on my way home. That's pretty rare, however. Then, of course I have a trailer for even more serious hauling duties.