Yes, there is a better way to proceed.
There are literally thousands of posts on exactly this topic in some of the major photography discussion groups. Just Google {"prints too dark" site
![Tongue :p :p](https://cdn.jsdelivr.net/joypixels/assets/8.0/png/unicode/64/1f61b.png)
hoto.net} to get a feeling for how common this problem is.
By far, THE most common cause of this problem is that your monitor is lying to you and telling you that after a bunch of editing, your image looks wonderful, when it actually IS too dark (or has the wrong color balance ... or whatever...), at least according to internationally agreed upon standards. Laptops and cell phones are particularly prone to this problem.
The only way to essentially guarantee that you will solve this problem is to do your editing on a high quality desktop monitor that has been independently profiled (aka, "measured") and then calibrated (ie, making your system use the monitor profile generated in the previous step) with a special device like this:
http://xritephoto.com/ph_product_overview.aspx?id=1115
Of course, there are less expensive hardware calibrators, and everyone will, of course, initially try to get by with whatever monitor they are using and a cheaper calibrator -- at least until they get so frustrated with half-hearted approaches that they finally decide to purchase good equipment.
FYI, I'm using a NEC Spectraview monitor (almost $1k), with one of the $500 Color Munki calibrator systems. I just re-calibrated my system last night, and I try to repeat the calibration about once a month to compensate for aging of my monitor or other problems. Note that I and most pro photographers consider this issue so important we are willing to spend more on just the monitor system than most people spend on a laptop. The problem is that if you can't trust your monitor, you have absolutely nothing to go on.
BTW, if you want considerably more information on this topic from "THE MAN" (aka, Andrew Rodney), read this article:
http://www.luminous-landscape.com/tutorials/why_are_my_prints_too_dark.shtml
HTH,
Tom M
PS - Here's a quick and dirty way to tell if the problem is you / your system, or your printer: Just post a few of your prints in this forum and we will let you know how they look.