Yes, extract beers can taste just as good as any beer out there. I'd say start with extract and continue with it until you have the main brewing processes down - sanitation, measuring, timing, cooling, fermentation etc. Once you have the routine down and you have a few good extract beers under your belt then make the jump. I brewed for almost a year doing extract with steeping grains and made many excellent beers. I've gone AG for a few months now and am extremely happy I did. But AG requires additional steps and care that could be a bit much for some newcomers that might get disheartened easily. You need more equipment, you need to get a bit of experience hitting and maintaining your mash temps, sparge water temp, etc.
Honestly though, it's all really super simple and until extract came along all new brewers started with AG. And with today's software and brewing apps for smartphones we have the brewing calculators to help us do all that easily. But again, if you don't want to be overwhelmed start off more simply and do extract for a bit.
Rev.