The reason Vader notably improves in legends is because Galen Marek provided him a worthy sparring partner. In Canon, there is no Marek.
The argument against ROTJ Vader being prime Vader is by that time, love for his son has polluted his connection to the Dark Side...polluted it so much he eventually throws it off.
I think he means when he realizes he has a son it cast doubts into his decisions. Which makes a ton of sense actually, I always thought it was nonsense that in ROTS Palps says 'You killed Padme', implying he also killed his children, and when he finds out he has children he never pieced together what a lying bastard Sidious is. Luke being alive shows Vader the biggest lie Palpatine ever told him. So I can totes see that weakening his resolve.
Defeated Bengel Morr (with just a training sabre.)
Defeated Power Guards (stated to be strong enough to fight Jedi/Sith on equal footing.)
Defeated Sadic (who was Angral's top apprentice even before undergoing the Power Guard process.)
Defeated Darth Angral (who was Dark Council level, and this was still quite early in the HoT's career)
Defeated Scourge (a 300+ year old master duellist who had killed over 1000 Jedi and Sith that the Emperor considered a threat. Meaning he didn't just kill a bunch of wussies)
Defeated the Gormak Guardian (an avatar of Sel-Makor)
Defeated Tol Braga (who beat a Dark Counciler)
Defeated the Imperial Guard (whom even the Dark Council were scared of)
Defeated the Emperor's Voice (not at full power but still heckuva powerful).