I enjoyed the characters.. they were real people with real issues that people have.
While I have always enjoyed Star Trek, one thing that always bugged me was the unrealistic portrayal of basic human behavior and making futuristic human society way too utopian. I admit though that I gravitate more towards the dark and gritty type of sci-fi like Blade Runner, new BSG, Space Above & Beyond, etc.
The genius of Firefly is that somehow Joss Whedon managed to portray humanity in a realistic fashion while also having some great comedic moments from time to time.