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Such a lovely image... I do wonder if GRRM is ever going to go into detail about the specifics of their relationship. I sincerely doubt it was like Robert imagined it, he just has to imagine that because to acknowledge that Lyanna went with Rhaegar willingly is to admit she wasn't madly in love with Robert like he expects every woman to be.
A lunatic from a lunatic family who destroys his dynasty and his country over sorcery and prophecy (which he didn't understand to begin with) is not a better king. Nor is a paedophile, born of revolting incest, who then, while still married, takes advantage of and grooms an underage girl (who was betrothed to his own cousin!), a better man.
Robert had faults, many of which were terrible, nor was he suited to be a king at all, but if nothing else, before he was destroyed by his depression and PTSD in the years after the rebellion, he was leagues better than Rhaegar.