I really don't that it's fair to say that one company is better than another in such a close and competitive industry. Nowadays, it really comes down to preference and what company offers the most of what you like. Samsung and Apple are making phones that look for a certain kind of person; an iPhone might suit one person, but Samsung and Android might appeal to another.
I've switched between phones and Apple is really good at making a smooth, user-friendly experience for all and looking great while doing so, and Samsung provides the user with many customization options and open ecosystems, giving more power to the user.
...Right now I have a Google Pixel 4