I love the NES/Famicom and the SNES/SFC but I -personally- liked Sega's output more. I think this is largely down to a couple of things : firstly that the NES didn't really happen in the UK , nor did the Master System so our gaming exposure to Nintendo was limited to their early arcade games - an area where Sega absolutely dominated them. Throw in Brits playing C64/spectrum and the ST/Amiga all through the NES/MS days and we just didn't particularly care at the time.
Then the Megadrive happens - the arcade games that people love are suddenly at home in a near-as-damn-it identical way. it handily out strips the Amiga/st in this department - games are pricy but video stores rent out games and everyone goes out and jumps on Megadrive.
Ultimately it's that Arcade/Megadrive period where Sega went above - pretty much forever - Nintendo in my heart. Afterburner , outrun, space harrier, quartet, altered beast, shinobi, super hangon, golden axe etc and then to take a huge chunk of those and put them on a home console with extras ? Oh yes.
Sega lost their way for sure but when Sega get things right they just have a different magic than what Nintendo have : Panzer Dragoon Orta, Crazy Taxi, Shenmue, Yakuza, PSO, Rez, Gunvalkyre, Chromehounds, Outrun 2 etc - yes I know some of these are publishing deals rather than "true 1st party"