like zach said, it sounds like your spring tension is shot, not surprising if its an 02' der. I run an XT on an 12-34 and have no trouble, do you run an extra short chain? Sometimes too short a chain can cause a little rubbing on the 34 gear, as well as wear out the tension spring a little quick too.
To get a little extra length out of the b-tension screw, try this.
Take off the der. and unscrew the tension screw all the way out. Now screw it back in from the back side, so that the head of the bolt will now be resting against the der. hanger. This doesn't allow you to adjust it once you bolt it back on the bike. I usually screw it in until the end of the screw comes through flush with the bracket it's screwing into.
Specialized are notorious for having the XTR (RD-M952) rubbing against the 34T cog due to a short hanger. You can either switch to an XT or get an aftermarket hanger, such as North Shore Billet that is longer.
I've seen it tons on Epic and FSR. The Enduro will have the same problem since it is the same rear end as the FSR.