Higher audio quality than CD? No, that is demonstrably false.
More pleasant to listen to than CD or other digital formats? Yes, that I agree with. It's entirely subjective, but I'm definitely not alone in the feeling. The fact it is hard to quantify is why lots of people don't "get" vinyl until they've sat and heard it on a decent system. Something about it is pleasing. As another commenter mentioned, it might just be the imperfections.
So I guess it's a bit of a philosophical question. If CDs technically sound better, but vinyl sounds more pleasing: does the vinyl then sound better? People tend to chase pleasure, and in the time it takes someone to explain how much lower the noise floor is on CD or how we can only perceive so many samples, etc, etc -- you could have been chilling with multiple records and had a great listening experience.