Sure, but the terrain wasn't truly 3D. I'm pretty sure there isn't any ballistics calculations for the attacks in Starcraft. It could have easily been a Starcraft remaster. It didn't really take the RTS genre to the next level. Doom does a lot more innovation between iterations.
Have you played Total Annihilation or Supreme Commander? Those increased the scale, the tactics, the map size. The weapons felt more varied. Really, made SC 1 & 2 feel rather Mickey Mouse.
I don't like Supreme Commander, but I definitely agree it is the competitor of Starcraft 2. AoE don't seem this way to me, these games are so clunky. And tens if not hundreds of titles that feel like inferior reskins.
Tastes are tastes and as such are subjective and can't be contested. But Supreme Commander looks like almost a different genre to me. I like SC2's format to this day.
I mean Supreme Commander has an active community despite coming out 3 years earlier, with less hype, and from a company that has long died.
Starcraft 2 had a nice campaign, but it really felt like Starcraft 1.5. Never really elevated the genre. SupCom really did.