For those of you who were into "Rome", "I, Claudius" picks up only a little bit later. While the action is constrained to set pieces and you would do well to have a copy of the Julio-Claudian family tree handy for the first couple of episodes, I can now attest that it is just as awesome as "Rome".
As an aside, it appears Patrick Stewart may have been born bald and never developed hair, although he appears in a poor toupe. Likewise, Gimli the Dwarf was once a square-jawed young fellow. And Prince Vultan (Boss Nass) once went without a beard.
Anyway, there's plenty of good fun and depravity for all to enjoy!