I will say that I do agree somewhat; the version of the Borg as, basically, a really successful hive of insects on a galactic scale was terrifying in a very impersonal way.
But, for the record, that was already starting to be eroded when Locutus happened; there was already some amount of empathy projected there ("the species will come easier if we speak to them more personally"), regardless of the existence of a queen.
Either way, once the queen was introduced, the Borg had a personality; they weren't truly alien to our way of understanding. There was a sentience there that could relate to and communicate with people in real terms. Everything since, including Destiny, I feel has been necessary extrapolation from that fact.