That was something that impressed me.
Moreover, even when the characters were saying things that real people might not say, what they were saying were things that real people might be thinking or would like to say in such situations. I kept getting the impression that in this world, people freely speak their minds, which is itself (at least arguably) an element of utopia. It was also good that the characters seemed to have concerns that were much more human than the concerns of TNG characters. "I really gotta pee now" is, frankly, more down to Earth than, say, a casual discussion of which of two obscure cellists perform a certain piece of classical music more artfully that segues into a comparison between cubism and prehistoric pottery.