The B:TAS box sets are absolutely worth it; I've been rewatching my copies like mad after seeing TDK. (Like you, I watched it on TV every day as a kid and enjoyed it, but had no idea how amazing it really was in terms of art and writing and acting until much later.)

The series actually won a couple of Emmys, if I'm not mistaken. The comics that spun off from it were equally as good--Mad Love even won an Eisner.