When do you counter offers if you think they are too low or how do you set prices so that you can get multiple offers?  

We refused their counter offer in each case and stuck with our original winning bid.

I would offer the 100k and see if you can get a counter offer.

Many times agents don't even counteroffer, which is frustrating as you don't know if you will get a property or not.

That includes free CMAsA Broker providing services as a Transaction Broker shall:(a) perform the terms of the Agreement to which this Addendum is attached;(b) treat all parties to the transaction with honesty and exercise reasonable skill and care;(c) be available to (i) receive all written offer and counteroffers; (ii) reduce all offers or counteroffers to a written form uponrequest of any party to a transaction; and (iii) present timely such written offers and counteroffers;(d) when an offer is made the Broker shall inform in writing the party for whom the Broker is providing services that such partywill be expected to pay certain closing costs, brokerage service costs and the approximate amount of those costs;(e) timely account for all money and property received by the Broker;(f) keep confidential information received from a party confidential as set forth in paragraph 3 below;(g) disclose information pertaining to the Property as required by Residential Property Condition Disclosure Act;(h) inform the party for whom the Broker is providing services that the party will not be vicariously liable for the acts oromission of the Broker; and(i) comply with all requirements of the Local Real Estate License Code and all applicable statutes and rules.

Many banks make a first "high ball" initial counter offer.

My guess would be no, I was assuming the bank would counter offer somewhere closer to the value of the home today so maybe I too should walk away or is their still hope the bank could accept the 57k?

If counter offers don't meet my needs, I don't get the property.

I recently agreed to their counter offer of 55k with inspection contingency.

In addition, my price was to begin a conversation, it is common to get a counter offer in case the seller feels unhappy about it.