No, I don't think Picard would have thought that. And as we saw, even Sisko had to essentially rescend that statement.
And as much as I love the guy, I don't think Worf would be a good Starfleet captain. He's a good right-hand man, and he'll always have your back, but he's not Captain material.
I think the role of Klingon Ambassador was perfect for him and I'm sorry the post-Nemesis fiction took that away.