I've used a few different types of caliper, linear and cantilever brakes for commuting and riding around Seattle, and just recently got my first disc brake bicycle, a 2010 Jamis Aurora Elite.

My answer: yes.

Even in dry and perfect conditions the braking power is considerably higher. In the wet, the difference is amazing. I have to careful riding my road bike in the wet if I've been on the Aurora for the most part because the Tektro calipers and Kool-Stop Salmon pads feel like nothing is happening after being used to the power of discs.

They can definitely be a bit more trouble to get dialed and in set up (my front disc is still screaming like a banshee after a month, despite my shop resurfacing the rotor and both pads). They add weight. The make installing racks and fenders a pain. Etc and so on. But the difference in stopping power is astonishing.

You can get by fine with rim brakes in anything but icy conditions, but discs make emergency braking far less terrifying.