To me, not really. But both are GREAT!!! I am addicted to "Rome" much in the same way as the "Masterpiece Theatre" production.
Graves really stuck to his translation of Suetonius' "The Twelve Caesars" in "I, Claudius". While he and the PBS use necessary dramatic license, the only characters he "invented" were implied by the history [such as the guy who told Livia about Julia's affairs who is not mentioned by name in either Suetonius or Will Durant's entensive history - or even that this was part of the method of Augustus' discovery].
"Rome" revolves around 2 fictional characters, Lucius Vorenus and Titus Pullo, who often are the cause of the history.
For example, Pullo, a thug legionaire, causes the street battle between Caesar and Pompey's men outside the Senate though he was specifically told not to start anything. He recognizes one of Pompey's thugs as one who cheated him in gambling and then helped kick ass.
While I am a VERY well read amateur student of the history - and plan to try to get a Masters and Doctorate when I recover from my current disability* - I don't know all the texts - as if I could. So, there well might be a mention of these characters as actually existing SOMEWHERE, there's obviously no mention of them as the foci of all the action denoted in "Rome".
But, it is so well done!!!
And the production - sets, costumes, locations, are incredible!
A brief aside that you may enjoy ...
I was watching an episode with my step-sisters who are both college educated - not "Harvard" but good schools.
When Pompey mentions he is going to Egypt I sarcastically noted, "Tragic error!" They were angered and basically said, "You've must've watched this before!! You keep ruining the scenes!!"
My dad and I were in shock! C'mon girls this part is well known history!!
* - a bit of a change since I majored in Math/Comp Sci in college.
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Amo i Gemelli!!