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When you press the 'info' button on the Samsung tv remote - what resolution does it say it is receiving when tuned to BT Ultra?
The reason why UHD looks better is not so much the resolution that you cannot really see unless you are close to the screen but the bandwidth
An HD stream is around 3 mbps in H264 UDH is 25 Mbps in HEVC so at least 8x more information and HEVC is better than H264
In terms of being able to see all pixels you need 85" at 3 meters to see the difference nobody has got that
Alternatively you sit much closer
With a 55" TV you don't even see the benefits of HD at 3 meters you need to be around 2.1