I have VC1 and 4, and love them both. Both games have a great cast, but what I especially like in 4 is how the squad are real childhood friends and not just a bunch of strangers who were forced together by circumstance, as is usually the case in RPGs, including 1.
Although, I will say I prefer Welkin to Klaus. With Klaus, I can't help but wonder WHY he was put in command of a squad, considering he never really demonstrates any leadership qualities. He seems really submissive to everyone, and doesn't demonstrate any knowledge that would make him an ideal field commander (sure, he wins plenty of battles, but that's only with the player's input. Welkin, at least, demonstrated knowledge of the terrain in cutscenes, which made him an exceptional tactician. And we see him take charge when there's tension in his squad).