I think Dark Souls is a masterpiece and would easily be the best game of the generation if lost izalith/tomb of giants/dukes archives/four kings weren't so rushed. It became clear near the end of the game that From was pushed for time, and Dark Souls 2 should be amazing.
With Skyrim I think too many of us Souls fans are spending too much time focusing on what Skyrim does bad with respect to Dark Souls. Skyrim has atrocious combat and animation, sure. But when you criticize that, the fans of Skyrim will simply point to the rest of the game and rightly talk about how the Souls games lack the same first person exploration, number of quests, freedom.
Much better to focus on how poor Skyrim is at its core mechanics instead. The FP-Walking Simulator it does well sure. The biggest reason for Skyrim's success is obvious. For a lot of gamers, the allure of being immersed in a fantasy world is hard to look past. And in this category, Skyrim has almost no competition. How many first person RPGs are there in the fantasy genre? Heck the only RPG setting with much competition for first person games would be your post apocalyptic worlds (New Vegas and the inferior Fallout 3) or your very dark survival horror type shtick (Stalker, Metro). Skyrim is basically the only first person RPG in a somewhat regular/happy environment, and this is largely the charm. Combined with great music, great lore, solid world design - and now in Skyrim but absent in previous TES games - good art style, it's easy to see why people buy the games and pour hours into them. The carrot on a stick nature of the simplistic objective point quests only furthers the ease at which people can pour hours into the game.
So what is wrong with Skyrim? A lot, and it gets away with this because it has no direct competition, which is a shame since I love the genre. We already know the animations are janky to say the least, the combat is easy but completely lacking in any sort of depth, dungeons are largely copy/pasted with a couple generic styles (cave/nordic ruins/dwemer/mine) and are usually a ton of branching corridors. Good dungeon design shouldn't be hard for Bethesda: a simple set up of dungeon>miniboss>treasure>puzzles>boss>treasure would do wonders if combined with unique appearances for each dungeon. Loot and challenge has been systematically destroyed by disgusting level scaling. I understand that Bethesda is adverse to having no scaling whatsoever, because the strength of TES games is that unlike many RPGs where you slowly unlock more of the map as you go, they let you travel the world freely. If the combat was balanced to a reasonable extent where higher level creatures were more than simply foes with higher health and damage then you would be able to mix it up a little, and good foreshadowing of particular dungeons or encounters is incredibly easy: if Skyrim lacked scaling, nobody would expect anything other than the highest leveled creatures from the top of High Hrothgar or deep in Labyrinthian: their design makes it rather apparent that they are important and difficult. And by taking out level scaling you can give the game proper loot, instead of the current system where you either break the game through smithing or have the wonder of encountering ebony and daedric ruined by the fact that it has become commonplace. One of the few reasons I actually look forward to double dipping on Skyrim for mods in several years when I can get it for <$10. As for fixing the combat, there should be no excuse now: Mount and Blade: Warband and Chivalry both have first person (Warband is close enough) combat that has plenty of depth and would work well in a TES game.
"But TES games aren't about combat!" - and you are correct. For TESVI I really hope Bethesda puts in more effort outside the combat. Sure this is a poor example because like every MMO it is a grindfest, but take Runescape. The game had a ton of content that did not involve combat. Fishing, cooking, woodcutting, mining, smelting, crafting, fletching, thieving, construction, hunting.... There is a ton to do. Skyrim's non combat side needs to be greatly fleshed out in the next game. This all starts and ends with a good economy, that has actual reasons for becoming wealthy. In Skyrim there is nothing to buy other than a house, and what good is that? M&B:Warband lets you invest in businesses, buy land as an investment, take out loans, and the payoff for this is you can now afford a massive army, buy mercenaries, host feasts etc. This is the work of a tiny team. Bethesda should easily be able to give TES games more depth: property and investments are obvious expenditures, political power needs to become a part of the games sooner rather than later. Bethesda should consider several non-combat roles, say, a woodsman, a merchant, a smith, someone that wants political influence, a thief. They should then design the game to add enough depth that these players would have plenty to do. The effort to pay off ratio for this type of content is incredibly high. Fixing the combat requires a complex understanding of how players approach combat, how strong they will be at a certain point in the game, not to mention incorporating systems with stamina, stun, criticals etc is not that easy. Adding non-combat depth is however by comparison. The trade system in Warband is incredibly simple, but means players can realistically travel the world buying low and selling high while trying to protect their caravan from bandits. The role playing value from that one skill is immense.
So to the question from the OP: did Dark Souls eat Skyrim's face?
The games set out to do completely different things. Dark Souls is a triumph of game design, completely achieving every aspect of the game that it set out to do: difficult but usually fair, great, responsive, deep combat, great atmosphere, great lore, interesting characters, awesome level design, the best boss design arguably in the industry - Sif, S&O, every DLC boss.
Skyrim sets out to immerse the players in its very interesting world. It succeeds here, but mostly because there is a large lack of competition to compare it with. It's essentially first person fantasy GTA without the good characters and story.
It's not really fair to compare them, although Dark Souls would be head and shoulders above Skyrim if you broke down each aspect of gameplay. The problem is, the reasons people play Skyrim are not present in the Souls games to compare with it, whereas the reasons Dark Souls is brilliant happens to be the worst part of Skyrim, so of course the comparison hardly flatters Skyrim.
EDIT: Holy wall of text and I didn't even mention Skyrim's story, characters or choices/consequences...