I totally agree with you there. I was born on raised on the exploits of Captain Picard and "his" Enterprise, I barely followed it during the first and second season. But, buy the time the third season came around I was HOOKED. I guess you could say it was the same way for me concerning DS9. Once Commander Sisko obtained the Defiant (plus the addition of Worf) and by the time the Dominion War came around I was HOOKED.
I'm sorry to say that Voyager is the LEAST favorite of the new Trek series'. Say what you guys will about Enterprise, but it's got an interesting story that's kept me interested (espically this season).
From what I've heard Season 4 is going to utilize mini-arcs. Hopefully (knock on wood) this will lead to a Birth of the Federation movie in several years.