Caligula was succeeded by Claudius, whose reign was noble and fair. The golden age of the Five Good Emperors was yet to come. It ain't over until we stop fighting. o7
Claudius opened up citizenship to the majority of the population of the Empire, granted slaves some of their first rights under Roman law, exempted hard-pressed local communities from taxes, built massive amounts of infrastructure for the usage of the public, repealed taxes on food, stabilized the grain supply to the city of Rome, expanded the Imperial bureaucracy of freedmen, and actually executed a large number of the wealthy elite for their plotting.