My beef with Adventure Time is the fact that it feels like the main arc is an afterthought. The show clearly started out without an idea of where it was going, which is fine, but they decided to switch from a slice-of-life format to a semi-serialized story, which didn't go well. You can tell this because there's effectively zero foreshadowing of what happens later on in the story.
Steven Universe does the whole main arc thing a lot better, although to be fair it still struggles with focus occasionally.
With that being said, if you guys haven't seen it, you should all check out Over The Garden Wall. It's one of the coolest things ever.