A Perplexing Place in the Jewish World?

I have a question that I'm hoping my faithful readers (and maybe a few rabbis) can chime in on. The topic?

Celibacy & Judaism

How does Judaism view those who choose a celibate lifestyle? On that same note, how does Judaism view those who simply do not marry -- either by choice or circumstance? What is the approach of the Jewish community to such individuals?

Note: I know that Judaism doesn't endorse celibacy. The idea has always been that a rabbi needs to know how to advise those who ask him questions, so shouldn't he be married and experienced and able to answer questions via personal experience and a sense of empathy and/or sympathy? I know I'm simplifying here, but please discuss!