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My take:

*Castlevania III (NES) is the best, tradtional, game in the series (i.e. not a riff on Metroid) and is also quite difficult.

*Castelvania: Legacy of Darkness (N64) is the most underrated by a large margin (mainly by people that have never played it).

*SOTN (PS1/XBLA/PSN) or Portrait of Ruin (DS) are the best "Castleroids" but both are very, very easy games.

*Super Castlevania IV (SNES) is probably the most overrated of the lot.

Hope that helps.