Having just finished Prometheus, here's how I rate the movies I've seen:
Aliens > Alien > Alien 3 > Alien Resurrection >>> Prometheus
Now, Prometheus is technically a better made film then Resurrection, but I really disliked the story and basically hated every character (with the possible exception of Idris Elba's character). Resurrection was stupid, but it was more entertaining overall and I cared more about Ripley-clone (even if she was really weird) then I did about any of the Prometheus crew.
It also never irritated me with the idiocy of the characters. Not that there weren't stupid characters in AR, they just didn't annoy me as much, plus they were more entertaining characters and I didn't hate any of them like I hated some of the Prometheus characters (especially Shaw and Holloway, they were really just terrible). AR also never got super pretentious like Prometheus. I still need to see AvP 1 & 2, but as of right now Prometheus is the first Alien movie I really don't think I'd rewatch, and don't have really anything good to say about it outside of it looking nice.