It doesn't matter if nintendo was commercially successful with nes. Sms had better hardware and better games than nes. Additionally Master system 1 and 2 basically have the same hardware and you can't compare them seperately against nes. Of course there are differences like the lack of card slot in sms2.
Try Phantasy Star and Wonderboy: The Dragon's Trap for starters if you'd like to see the good sms games, except sonic and arcade conversions. Now tell me any nes game with superior quality.
Mega Drive hardly had a technical advantage over snes and was not successful in the states at all because nintendo had it's brand advantage. Although I like it more than snes, one should tell the history correctly. I agree with the part after the megacd.