TDKR >>> BB and TDKR almost > TDK
Bane alone was a superior villain. The only reason why the Joker got the edge because of Ledger's performance, outside of that, Bane was the best villain out the entire trilogy. Every word he uttered was a fucckin' QUOTABLE. He was the only dude that broke Bruce, physically, mentally, and financially all at the same time AND took over an ENTIRE CITY and held it hostage for nearly half a year with the nation's military being its b*tch! And held it down til the very end. The Catwoman was how she exactly suppose to act, manipulative and choosing sides and out for self. The tie-ends to Begins and TDK was perfect as it closed a lot of open-ended things and brought the film full circle. The Ras Al Ghul cameo. The fight inside the sewer and the epic breaking of the BAT. The Tales of Two Cities analogy. The final ending scenes and the open-end ambiguity of what would become of Blake. The ONLY flaw was the Talia turn and the controversial implications that Bane was 2nd in charge and was doing it all for her (and how she died). Outside of that, I can watch that movies REPEATEDLY. The prequel sequence still gets my hyped. The fucckin' BLACKGATE PRISON SPEECH still gives me CHILLS. It's impossible for me to even hate on that film in any way.
Batman Begins was FLAWLESS in the first half of the film, only because of how it was shown logically how someone can pull it off how to become Batman. The 2nd half went like a cliche comic book film we see all the time with a goofy premise to evaporate the water supply. Scarecrow being Loki levels of lame villainy. Ras was dope as hell, but the way he died was a lame copout (even though it's not as bad as how his daughter died). Blatantly cliche one-liners, and the fight scenes were chopping and slow (but it was Nolan's 1st time directing fight scenes). Put that in comparison to the fight scenes between Batman and Bane, especially the sewer one, you see a vast improvement.
TDK is still the best because I felt it was a game changer in Superhero films. I still feel it should of not only been nominated for Best Picture, but won it! Yet it had its own flaws, in particular the entire 3rd act, which looked good on paper, but executed poorly. From a story perspective, and from a grand scale aspect, I always felt TDKR was bigger and almost better, but TDK was more intimate in which even though the city felt like it was in jeopardy, the main impact affect was the three individuals, Bruce, Gordon, and Dent. But I still have it at time, yet I find myself watching TDKR more.
Finally someone posting with some sense in this thread! 
I love all three movies but if had to pick which one I enjoy to watch more(not particularly best film..even tho I think TDKR is best) it would be TDKR.