Series I-VI. Grant & Naylor. Within those 6 series, it's impossible to really pick out one series as best. What the first few series lacked in production values, they made up for with character-driven stories and an oddly realistic depiction of being stuck alone in space in terms of the boredom and loneliness. The later series had the snappier writing and interesting villains to face in order to compensate for the fact that the main characters were all pretty well explored by that point. Between either era, though, the show had its heart - something which it lost, in part, when Grant left. I don't really think that Series VII 'wanted' to happen. The tumult that preceded it should have been an indicator that maybe the series' time had passed. When Chris Barrie, for example, mentioned that he didn't want to do it, that should have been an indicator that the show could not go ahead, at least at that time. Red Dwarf without Rimmer would be like having no Lister. They're both absolutely essential to the series (no disrespect to Chloe Annette, who was very game, to be fair to her).