There's alot of great games on consoles. In fact a good chunk of the best action games are from console devs
They are arcade games, it's not the same thing. PC gaming was a different beast from console gaming and most of the "great" games you are talking about come from Japan. What we are dealing with here is western developers who played consoles because they were more casual and affordable than PCs and have a completely different view of the platform than the Japanese do (or did), who at a time dominated the coin op industry where they made games harder on purpose in order to fleece more coins out of people and they sort of transposed that mentality on console games as well. In the west however consoles were a thing mostly because the PC was too teh hard, that's why cross platforming has resulted in the popamolization of the entire industry.
And even then, like i said, console games are basically arcade games (that includes stuff like Dark Souls), where as PC gaming was more about exploring the possibilities of the platform or computing technology in general. Hence, the prevalence of simulations, strategy games, RPGs and so forth. Many of the typical genres found in PC games can be traced all the way back to the games students were making for mainframes back in the 70s. Stuff like RPGs, strategy games, adventure games, even MMOs, were already a thing back then and those games developed further on the home PC when it started to become more available. The fact id software started out by making platformers doesn't mean Doom didn't also represent an exploration of the possibilities of the medium. We know Carmack was interested in developing a first person engine after playing Ultima Underworld, with which he was impressed by and which made him want to make a version of that with even more fluid and realistic movement. Likewise, the reason Doom had the kind of level design it did is that the devs themselves played RPGs, were used to making their own maps etc. Action game or not, Doom is part of the world of PC gaming where stuff like bright colored shit coming out of enemies, "arcade modes" with lives, score mechanics etc should have no place.
The Brutal Doom dev was perfectly correct in that interview. It's not that Doom is serious or super realistic, but it should not be so blatantly arcadish and it should also not be so formulaic, which is another aspect of console gaming, where the "style" of the game overrides it's conceptual content (hence, why all the console games have to have the same shit, the same "upgrade" paths, the same "open world" mechanics, the same tropes and cliches etc), where as on the PC it was the inverse, hence, why Doom spawned so many first person games each attempting to do something different, because again the point of the PC platform was to see what could be done with the tech and not just to produce products for mass consumption, which is what games are now for the most part.