A bike fit is always a good idea. It might not just be the saddle height that needs adjusting. Like the stem, for example...I had my LBS flip the stem and I couldn't believe the difference. It changed my riding position and made my back and arms much more comfortable.

As for the saddle, I can tell if my saddle is too high if I'm rocking back and forth over the saddle on each pedal stroke because my feet can't quite reach the lowest position of the pedal stroke. I can tell if my saddle is too low if my knees stay really bent on each down stroke. It can be a very fine line. When I got a new saddle, I probably adjusted the height 5 or 6 times before I got it right.

I can't touch my toes either, btw