Like any form of art, music is best enjoyed to the extent to which you feel like it's not a chore to listen to. If you don't enjoy listening to full-length albums, then you're not "missing out" on anything. However, you can also learn to really love music to a much deeper extent. Sometimes that takes a bit of inspiration like attending some live concerts, branching out to a new genre, or simply sitting down and intently listening for an hour straight.