Have the ceiling paint mixed at 50% of the wall color. It will appear to be the same as the walls. If you use the same color as the walls, it will appear to be darker than walls. If you have crown molding, this will make it pop. Be careful with this for grays, though, as they can end up looking blue in the lighter shade if they are not a warm tone.

There is many ways you can go it will depend on the style of the home . Vaulted ceilings or not that can make a difference

Most if my ceilings are 9 foot. The family room is at least 20 foot if not higher. Here's a pic! Thanks for sugestions!

White ceilings with colored walls makes it look like you forgot to paint the ceiling, and the contrast can make the ceiling feel lower (because your attention is drawn to the contrast. Most professionals use the 50% wall tint trick. If you have crown molding or picture molding this is especially pleasing (paint everything above the molding the same color). Personally, I like my walls and ceilings painted the same color because it feels more natural to me (and more traditional, and hides the fact that there are no level lines in this old house). There's no real rule, just personal taste.

I'm not afraid to use white ceilings when the situation calls for it. I'm also OK with the wall color or some percentage of it being on the ceiling, assuming said wall color is not too dark. With 9' ceilings you can afford to use a little color. In your family room, for sure, you could afford to go darker than other areas if you wished. You might even want to darken the family room ceiling to help it feel more cozy.