Only sad thing is that it would have a season 3 and 4, but not enough people watched it. Being the series with the highest budget ever (at that time) they couldn't afford to make new seasons 
Long ago, I had an idea of Season 3, being inspired by what Caesarion said at the very end of Season 2: that one day he would reclaim what is rightfully his and would clear his father's name. My idea would have been that at some point, Tiberius is "replaced" and thereafter impersonated by Caesarion; either during Tiberius's youth or during his exile to Rhodos. Tiberius's later military merits would of course be due to him being raised by Titus Pullo.
Of course, the deaths of Octavian's (Augustus's) nephew Marcellus, grandsons Gaius and Lucius, and stepson (rumoured to be real) Drusus, all heirs to the throne before Tiberius, would be arranged by "Tiberius"; Marcellus's and Lucius's "illnesses" would be actually poisonings and Gaius's fatal wounding in combat would have been prearranged, and Drusus, having falled off a horse, conveniently dies only after "Tiberius" has joined him in Germania. Postumus Agrippa, the only other possible claimant, is discredited due to having been framed by "Tiberius", and quite conveniently, he was executed by his guards at the time of Augustus's death.
When Augustus is lying on his deathbed, "Tiberius" would whisper to him, revealing his true identity, to which Augustus would then reply his last words: "If I have played my part well, clap your hands, and dismiss me with applause from the stage." which could - from a certain point of view - refer that "Tiberius's" impersonation has been a "play" presented on a "stage", and Augustus has been an unwitting participant.
Season 4 would be in my vision focus on the power struggle following Tiberius. In this vision, Caligula would not have been the insane tyrant he's described in histories written by his political opponents, but at odds with the Senate still clinging to power, and unwilling to pretend being a "concerned citizen" anymore while clearly having the powers of a God-Emperor, and some of his antics would be actually aimed to ridicule his opponents, but twisted posthumously to be proof of his madness. His successor, uncle Claudius, would of course be (as historically described, by his opponents, of all things!) handsome and intelligent, but limping due to previous polio infection and prone to stammering when excited. Like Caligula, Nero would not be the cruel madman but just brutally cool and calculating, and compassionate when needed; much of his "tyranny" would also be only be misleading interpretation of later historians and his opponents.
Of course, the death of Nero (who would not even commit an "assisted suicide", unlike record states, but was killed by the Senate troops and declared to have been suicided instead) at the end of Season 4 would tie nicely with the end of the entire series, what with the end of the Julio-Claudian dynasty.
