Updates usually bring some changes. Some good others not so much. The update to 7.0 was a major update that many people had some problems with. The look changed quite dramatically. But keeping an open mind I went ahead and accepted the changes. No I can't remember what iOS 6 was like. The latest update to iOS 7.1 brings some nice tweaks. There are more controls to handle visibility and motion, some settings are more clear, and other new settings add welcomes adjustments.
If you are using iOS 6 still, I'd definitely suggest updating to iOS 7.1. The many new security features alone make the update worthwhile. If you already have iOS 7.0.x I still would recommend updating to 7.1. There are some bug fixes, Safari seems to run a lot quicker and smoother and the new settings are good.