If there was nothing wrong with it and it wasn't keeping up than it wasn't sized correctly. Don't blame the type of system. Blame the people that charged you for the maintenance.
Technically the heat of a radiator doesn't "rise". It radiates. Google the difference between conduction, convection, and radiation.
Most people seem to love their geothermal system; our experience was less than stellar. When I mention we did not have good luck with the geothermal, the most common response is that the loop was not big enough. Your comment about it not being properly sized is most likely issue. But that is no longer our problem as we no longer own that house. As for the company we hired for maintenance, I won't be calling them any time soon.
I do understand the difference between the three and I can feel the heat radiating from the ceiling. I am certainly no Sheldon Cooper (i am a dork however) but I do understand the fundementals of physics and based on that understanding, feel that heat radiating from the floor will require less work to heat the room than heat radiating from the ceiling.