I have to agree. I still enjoyed it quite a bit, but I'd say it's inferior to Dark Souls in almost every way. The core combat, the storytelling, the level design, the characterization, the boss/enemy design . . . pretty much everything. One big exception being online play, certainly. I love the game, for sure, and I plan to go back to it in time to see how it holds up. 78 hours later, though, I think I'm done for awhile.
It's funny you mention Demon's Souls, because I'm about to play that for the very first time. I realize it's a very different game in terms of world design, but I'm hoping the levels and the combat feel more Dark Souls-y. I don't really know what to expect, but knowing there's much more overlap in teams between Demon's and the original Dark, it would be funny if I felt more at home playing Demon's than I did playing Dark Souls 2.