if color intensity can be controlled by pressure somehow then maybe it's time to dust off my ancient Intuos 2!
Oh definitely. I'd guess that if you'd had someone present who could configure a brush for you, it would have felt more like you were drawing. There's a lot you can do in these programs...the problem is learning how to configure them so you can tap into the power of it. Whereas with the "real thing" you just pick up your tool and draw. No fiddling and fussing to make the program behave right.
Painter (not Paintshop, but Corel Painter) is favorite of non-digital-artists because it is effective at imitating "the real thing", barring the fact that a stylus and tablet will never have the resistance of paper and brush/pencil/pen. Problem with Painter is, well, it is
so powerful that you can get lost in it. So many brush configuration options and brush choices. They do have a lot of pre-configured ones to imitate real media - oils, watercolors, acrylics, pencils (their latest version pencils are faaaabulous), etc - but it's overwhelming even with those.
Still, if you are feeling brave some weekend, get a trial copy of Corel Painter and just spend some time goofing off with the different brushes. If it feels to you like it has potential, then you can learn more about how to configure/create brushes.
ArtRage is a cheaper alternative to Painter. Not as much customizability, but still has a "real" feel to it. And it has a very clean, user-friendly UI (can't say the same for Painter).
A good program if you want to imitate pencil-sketching is Autodesk Sketchbook Pro (SBP). It has a variety of "real" media brushes, though I think that most of them pale in comparison to the above two. I love it for its UI (second to none for tablet art-ing), and the pencil brush. I use SBP for my sketching (pencil brush) and inking (pencil brush or pen brush, depending on the ink style I want).
(I personally use photoshop to color because, well, I don't want/need it to behave like real media, because I never really used those. I just want a digital app that does precisely what I tell it to, and have good performance while it does it.)
There are some others I haven't used in a while...OpenCanvas and TwistedBrush...I don't think we have anyone here who uses those, but I did like Open Canvas the one time I tried it. It just didn't have a niche that I wasn't already filling with Photoshop and Sketchbook Pro.