Empire is an always-watch show for us, but I readily admit it's a guilty pleasure, as is just about any prime-time soap.
Now, for totally non-guilty pleasure, there was Parenthood. Although the music business and recording studio scene was just a subplot in that show, that was an aspect of one of my all-time favorite shows that brought much delight. I'm still shedding a tear or two when I think it's over for good. Bring back The Lunch Counter!