I think the episode where Worf came into his own was Sins of the Father.
"IF YOU DOUBT I AM A KLINGON, A DEMONSTRATION CAN BE ARRANGED!"
Before that his 'warrior'-ness only manifested as animal rage. And it was clear in other season three episodes such as Deja Q that they had finally figured out how to write him. So he has that element of self control and Starfleet duty on top of the animalistic warrior rage.