I would be hard-pressed to find someone who was a better guitarist/singer than Terry Kath. Hendrix probably really did think Kath was better. In real life JH was pretty shy and even humble, unlike his image on stage. As for Kath, for me personally, it's his voice which really gets to me. If I could choose a voice to sound like, it would probably be his.
Here is more from Sheryl Crow, my favorite song by her. Also, here is Sheryl with Mick Jagger. It's probably not their best performance, but I really like the song.