To me, taking SLRs everywhere turns you from a participant to a documentarian. Additionally, and I say this as a former professional assistant and current serious amateur, SLRs for family stuff are really inconvenient, and often times just collect dust. Lastly, SLRs can take intimacy away (though they can add gravitas).
You know, photographing people is really equal parts psychological and visual. Avedon was a master of the psychological for instance, shooting people repeatedly in the same style, but with wildly different effect. SLRs to me up the psychological stakes taking what you're doing from photography to capital P Photography with a whole raft of associations there between you and your subjects.
Lastly, from a technical perspective, sensors and lenses on cheaper cameras are pretty good these days, and generally when you shooting you don't want full manual. I can shoot using the zone system if I need to (well, if I hadn't sold my light meter years ago), but with digital photography these days, the two controls I really use are Aperture or Shutter Priority and exposure adjust. If I really want to lock the exposure (for a complex strobe setup or super-consistent color) manual's nice, but it's rarely that important for casual photographers.
That said, learning to shoot an SLR is fun, just beware the significant risk that it'll wind up rarely used on a shelf.
Here's some more compact cameras I'd recommend:
Panasonic Lumix LX5
Nikon S95
Canon Powershot G12
Fuji X100 (My baby, but pricey, and it's a camera with some intentional limitations many may not like).