We're not even close to understanding how to reliably make good programs, so naturally we don't understand how to do that with Lisp either. Lisp is just a particularly pure medium for programming. Most of the things people are saying about Lisp ("it allows people to invent their own little worlds") are really just statements about programming.
Oh and one other thing. A pox on the terms "readable" and "unreadable" floating around as free variables. They are hopelessly relative and their prominence in any discussion of programming (or should I say every discussion of programming) renders said discussion pointless. We literally don't know what we're talking about.
As pnathan brilliantly put it in another thread (http://news.ycombinator.com/item?id=3387432): "Intuitive is just what you've seen before." Bravo, pnathan.