Generally speaking, the stiffer your suspension is set up, the better the handling and the worse the comfort, up to a point. The trick is to find settings you can live with comfort-wise that give you the stiffness you need handling-wise according to the type of riding you do. These settings are almost as subjective and personal as what exhaust sounds best or what paint it prettiest. Factory suspension has improved a lot in recent years, but the addition of aftermarket pieces can make a world of difference. The true function of suspension is to keep the tires in contact with the pavement while not letting the basic geometry of the chassis get too out of shape. Check out threads and articles on setting the static sag, which is the amount the suspension compresses with the weight of the bike and your body on the wheels. This will give you a good starting point from which you can adjust preload, damping and ride height, depending on the various adjustments included with your suspension. After you set the sag, make adjustments in small increments and see how they work for your riding style and the types of roads you ride. If you live in an area that has mostly straight roads, it's ridiculous to set things up stiff for twisty road handling because you'll destroy your comfortability and make riding a chore rather than a pleasure.
It may be a pig, but it's a pig with a rocket in it's ass!