I think it could certainly be inferred from the film that Bane wants Bruce to suffer because he represents everything he hates. A man born with nothing vs. a man with a silver spoon. Bruce is given the opportunity to be at Ra's side, something Bane rightfully deserved having saved his daughter, but he's instead cast out. Why? Because he's a monster from hell. Ra's chose the Prince of Gotham over him...only for the Prince of Gotham to turn his back on the League and spit in the face of everything they stood for.
I completely agree with those who have said Bane wanted to succeed where Ra's failed, for these reasons. Couple that with an unwavering loyalty and love for Talia, and you pretty much have Bane's character. It's very much a brotherly battle between Batman and Bane, where Ra's is the father figure. Bruce represents the good aspects of Ra's taken to the extreme, Bane represents the worst aspects of him taken to the extreme.
-Bane hates the rich...because he wasn't born rich.
-Bane, though we're never actually shown this, really wanted to be at Ra's Al Ghul's side, and resents Bruce for not wanting the same thing he did and working against the league.
-And Bane has an unwavering loyalty and love to Talia, and so he does what she wants.
Bane hates rich people because he wasn't born rich. Bane hates Bruce for not wanting to be a villain, for fighting against a villainous organization and is...jealous of him? And Bane does whatever Talia wants because he loves her and is loyal to her.
Mind you, none of this is actually explored.
How is that not a thin character again?