Odin has a complicated relationship with humans but he does appear to think Asgardians are somewhat superior to humans depending on the situation. In Thor when he casts Thor out he tells him:
Odin: You are unworthy of this Realm... unworthy of your title unworthy of the loved ones you've betrayed. I hereby take from you your powers. In the name of my father... and of his father before... I cast you out!
If he is unworthy of Asgard but appears to be worthy of Midgard Odin must think Asgard to be somewhat superior. However, later in Thor: The Dark World he compares humans and Asgaridans to be similar. Here he seems to be implying that neither are superior to the other.
Odin: Do you not truly feel the gravity of your crimes? Wherever you go there is war, ruin and death.
Loki: I went down to Midgard to rule the people of Earth as a benevolent god. Just like you.
Odin: We are not gods. We are born, we live, we die. Just as humans do.
Loki: Give or take 5000 years.
Thor: The Dark World
Later, though when talking to Thor about Jane he makes his feelings clear that he believes Asgardians to be superior to those on Midgard. His feelings seem to change per the situation but in some aspects I believe he thinks them similar.
Odin: My words are mere noises to you that you ignore them completely?
Thor: She's ill.
Odin: She is mortal. Illness is their defining trait.
Thor: I brought her here because we can help her.
Odin: She does not belong here in Asgard anymore than a goat belongs at a banquet table.
Jane Foster: Did he just...? Who do you think you are?
Odin: I'm Odin. King of Asgard. Protector of the Nine Realms.
Jane Foster: Oh. Well, I'm...
Odin: I know very well who you are, Jane Foster.
Jane Foster: You told your Dad about me?
Thor: Something is within her, father, something I have not seen before.
Odin: Her world has its healers, they are called doctors, let them deal with it. Guards, take her back to Midgard.
Thor: The Dark World
In Thor: Ragnarok he chose Tønsberg as the place for New Asgard which Thor later establishes. It seems he has a fondness for Earth and it has a special place in his heart.
Odin: Remember this place. Home.
He will sometimes portray different feelings but that is usually to teach one of his sons a lesson rather than his true feelings on Midgard and humans. Note each time he makes it seem like humans are inferior he is teaching Loki or Thor a lesson. His true feelings seem to be mentioned in Thor: Ragnarok when he is speaking from the heart rather than giving a lesson: he does appear to truly love Earth and its people and so not thinking himself superior.