Massively better? I'm not so sure. I would not want to go back to iOS 6 though, for certain. It's because there are a lot of great features in iOS 7 that I would never want to give up. That's a good thing. But there's also a lot of features in iOS 7 that worked better in iOS 6, and there's clearly some design elements that simply don't work as well in practice as they sound in theory or perhaps look on paper. I'm not really worried about them sorting many of these things out, but given that there's been clear downgrades in certain areas, I can't sit here and say iOS 7 is massively better than iOS 6.
Another thing that I've found interesting about iOS 7, though not entirely surprising, is that almost everyone I know with an iPhone or iPad has quite a few beefs with it. What's more intriguing though is that many of the complaints I heard came from people who initially loved iOS 7 for the opposite reasons you suggested; they were excited about the changes. But as time's gone on and they've had to use it every day, frustrations have emerged.
Some frustrations stem simply from bugs, but to be clear, there's a lot of bugs, especially on the iPad. I don't think my iOS 4, 5 or 6 betas were ever as buggy as even iOS 7.0.4. I have a 5s and an iPad Air, and my Safari crashes all the time, multitasking gets stuck quite often, orientation gets stuck on the iPad all the time requiring a restart to fix, battery life has been a mess on all of the devices I've tried it on, clean installs or not, and on and on, the App Store crashes all the time, and I had to do multiple clean installs of iOS 7 on my iPhone 5s before I could even buy apps in the App Store without getting an error and a failed download. Bottom line, there are a lot of bugs that significantly affect every day use, definitely more than we've been accustomed to lately, and while they'll likely get ironed out in due time, it leads to this being the first iOS release that's felt unfinished, despite the many great new features and improvement. They sacrificed a lot for change.
But there are other problems that are cause for more concern, such as the focus on clever visuals that don't lead to improved performance or usability, and in fact in many cases they complicate and confuse users. The whole move to text instead of buttons is the first thing that I think really needs to go. It's just far too inconsistent of an indicator; some text is clickable, some isn't, and it's oftentimes not obvious. Not only that, it ends up looking sloppy in far too many cases and working poorly in others.
I could go on and on about the problems, and I could go on and on about the good stuff, but to keep things in context, it really brings home to me how frustrating it must have been dealing with Forstall at Apple. Clearly, Ive and Federighi have a lot of interesting ideas that really work, and they did a great job of cleaning up some of the problem areas in the previous iOS design language. I can't help but wonder how much better off iOS would have been or could be if Forstall was still involved and working as a team player as opposed to isolating himself among management and playing politics too hard. iOS 6 was stale, but there was a lot about it that worked great, and Forstall had a big hand in that. If he'd been more open to working with others, helping to shape some of Ive's ideas and balance them with his own valuable insight into user interface designs, I think we'd truly have an iOS 7 that is massively better than iOS 6. I half-suspect that iOS 8 will indeed be massively better than iOS 7, but I think it's going to make this year with iOS 7 feel like a long beta period.
But if iOS 8 continues to struggle with bugs and continues to feature user interface elements that simply don't work well, it's time to worry. iOS 7 is getting a lot of grace from me and countless others because it was a first run for Ive as a software design guy, it was put out on a rushed schedule, and it's trying something new. I think it's totally reasonable to give it a chance based on how much of it works great, but iOS 8 is going to have to show that they can release a stable OS, do some serious polishing work, and most importantly, completely rethink some of the areas that are simply bad ideas and prove that they're able to change and adapt.