Er no that's not often true. I guess it depends on what you mean by "better" and "small" exit but often an acquihire or low cash exit isn't better than if the company ipos. Consider liquidation preferences, ratchets etc.
Clearly if you get to choose, choose to IPO :). I think the idea here is that many founders would be better taking $5-20M acquisitions along the way than shooting for the moon- shooting for the moon is better for investors, as they have a portfolio and are looking for black swans to pay for it. But founders usually only have one startup at a time.