It is known that rare-earth-based pyrochlore oxide may accommodate the well-defined two-in-two-out spin ice state with its tetrahedral unit. Low-energy excitation is argued to favor the highly concerned monopole state which attracts essential attention. However, such an excitation cannot be directly tracked and imaged using advanced characterizations, raising challenges to our understanding of the physics of monopoles. In this work, we propose an improved two-dimensional artificial spin ice structure on the Shastry–Sutherland lattice to restore the degeneracy of realistic pyrochlore systems. Such a structure avoids the deficiency of inequivalent nearest and next-nearest exchanges in the planar quadrate unit, which, however, is equivalent to the tetrahedral unit of realistic pyrochlore oxides. Therefore, this spin ice model restores state degeneracy that is lost in conventional planar artificial spin ice structures, representing an improved simulator of real spin ice systems. Our careful investigations of such improved structures reveal the rich physics of spin ice excitations, including the phase diagram, which allows different ordered phases and interesting critical phase transitions between spin ice phase I and phase II. Energy spectrum analysis suggests that restoration of state degeneracy substantially reduces monopole excitation energy, resulting in a striking monopole emergency at the critical point. Furthermore, the emergent spin dimer phase in this improved model allows high-density monopole excitations and exhibits high-correlated monopole fluid states.