The PS3 version notwithstanding, I really think they got a pretty good handle on the "bugginess" of their games. I agree though that I would like to see them keep roughly the same size world and focus on improving other things. For me, I think the priority for The Elder Scrolls VI has got to be on improving gameplay.
Bethesda has been given a pass for their crappy gameplay for so long because they haven't had any real competition in the past. Sure, there were other open-world RPGs, but they all paled in comparison to TES. However, within the past year and a half Dark Souls, Dragon's Dogma, and Kingdoms of Amalur were all released. All open world games, all have feature parity with TES, and all have way better gameplay.
I'm not saying I want Elder Scrolls to "be" any of those other games, but I sure do hope Bethesda has been taking notes. And I have to imagine they are, it would be straight up stupid of them if they weren't paying attention to what the competition was doing.