I never got into the SOAP sitcom, but its sole spinoff Benson I watched regularly when it premiered in 1979 and stayed with it until it ended in 1986. It was Robert Guilliame at his Emmy-winning best.
What's most interesting about Benson is that it co-starred two future Star Trek series regulars:
Deep Space Nine's Rene Auberjoinois (as Clayton Endicott) and Voyager's Ethan Phillips (as Pete).
I wouldn't buy this on DVD, but it's good for one viewing.