Yep, 44.1 KHz /16 bit LPCM used for Compact Disc falls short of what it should have been. I've been buying HD audio via DVD-A, Blu-Ray Audio or HD Tracks and going from 16 bit to 24 bit opens things up a lot.
Of course it really boils down to the quality of the initial source. If the master tapes/recordings are less than spectacular, then it doesn't matter if it's a perfect press of an album or 192 KHz / 24 bit FLAC, it's only going to sound as good as the lowest quality part of the recording or play back system.
24/96 if you can do it.