If by modern humans you mean modern human society, then definitely. I'm not saying that every modern society is better than every ancient society or that there'

If by modern humans you mean modern human society, then definitely. I'm not saying that every modern society is better than every ancient society or that there's no aspect where a given ancient society is better than a given modern society, but taken as a whole modern liberal democracy is dramatically better than previous types of society. Even capitalism, one of the worst parts of modern society, is a lot better than the feudalism that it replaced.