That's what I'm doing too. I enjoyed Borderlands 1/2 enough on my own but me and 2 mates played through them together online but once a month or so we'd set up 3 TVs, 3 PS3s at my house and play it all night getting drunk. Was such a good laugh.
Now everyone has PS4s instead of split between the consoles three will be 6 of us who play regular so I really can't wait for some really good, expansive co-op titles.
Destiny may not look to bring anything groundbreaking, but personally I think it looks really good at what it is so I'm certainly excited for it.