Doing a full boil (or adding the extract late) makes for a "thinner" (less sugary) wort in the boil pot and helps to avoid caramelization. Caramelization leads to darkening and residual sweetness in extract-based beers -- while this is a flaw in certain styles, other styles may even be complimented by it. In lighter style beers (pale ales etc) with original gravities below about 1.050, a full boil or late extract addition can noticeably improve the beer's taste. In bigger, darker beers the effect is harder to notice because of all the malty roasty flavors masking it.
As observed by kaptk2, thinner boils also increasing the rate at which hop acids diffuse into the wort, resulting in a more hoppy-tasting beer.
A good kit recipe should be designed around the boil size recommended in its instructions so I'd go with what they call for in order to achieve the advertised results. If, in the future, you decide you want to modify kit recipes to achieve lighter color or a dryer, cleaner taste, or you want to save money on hops, switching to a full boil or late extract addition technique might be a good idea. It's true that this requires making some changes to the amounts of ingredients you are using -- the easiest way is with
Beersmith which is a great twenty bucks spent if you want to keep going with designing and brewing your own recipes.
As many of us move forward with brewing, we find that we end up working to develop a replicable and enjoyable brew process (some people do bigger boils, some smaller). Once we have brewed a few batches and our process settles down, we start gaining experience with formulating recipes that will make the beer we want!