I was never a huge fan of ESB - thought the asteroid scene was contrived, and I didn't like that all the locations were claustrophobic. I had always thought that Yoda turned an average effort into a very good one.
UNTIL - after putting together PSB, I started to appreciate the filmmaking in ESB a lot more. Particularly the carbon freezing scene. The script, the acting, the grittiness, the humanity, the lighting and photography, and above all, the TIMING in that scene are all superb. Probably another case where the editing made all the difference. It is the perfect climax that turns a fun jaunt into intense cinema. It would have been fantastic even without the "I know"... but that (supposedly improvised) turned a great scene into a masterpiece.
I still think the Hoth scenes were a bit weak, however. Some slightly cringe-worthy lines in the script. That could be why my previous opinion of ESB was so meh... it got off to a questionable start. Although the walkers are cool.