In an interview, Paul Darrow called Firefly (2002) and its film follow-up Serenity (2005), "Today's "Blake's 7"".
After Terry Nation left the series, Paul Darrow was so fed up with the inconsistent way that Avon was written that he gave up and started playing him as slowly losing his mind to compensate for it.
Gareth Thomas and Tom Baker always wanted to do a cross-over between Doctor Who (1963) and "Blake's 7" (with the two heroes passing each other in a corridor, exchanging greetings) but this was vetoed by producers of both series. Indeed the invasion from Andromeda at the end of the second season was originally going to be invasion by Doctor Who's Daleks, also created by Terry Nation.
Gareth Thomas revealed in Blake's 7 (2006) that he became disillusioned with some aspects of the series, in particular what he regarded as its move away from science fiction and into science fantasy. When he asked if he could direct a couple of episodes and this was refused by the BBC, he decided to leave. The BBC offered to raise his salary, but he wasn't interested.
Paul Darrow was notorious for breaking props. He broke every single gun he was handed, and the props department got so frustrated they made him one with an aluminium core so he couldn't break it. This was later stolen.