Recently, I realized it is a good idea to grip the handle bars tightly and pull my torso forward with my arms. Not only does it remove much pressure from my groin area, it helps me go faster with less leg push. This is helpful to me in particular because I wear a backpack that varies from 5 to 50 pounds.
I've thought about racks, but the backpack keeps my back in shape. Although backpacks hurt my shoulders when I'm walking around (vertical torso), they don't when I'm cycling (horizontal torso).