Everyone has likes and dislikes. I for example hate anything peach. I love salsa's and tomato pastes, but I will not eat whole tomato's....its a consistency thing. The smell of boiling cabbage makes my stomach turn, but I love sauerkraut.
On the other hand, if you have the same eating habits as you did as a child then yes you probably are a picky eater. The picky eaters I know make arbitrary decisions about entire groups of food. "I don't eat seafood" or "I don't eat Chinese food". Typically, these type of people have made the decision that they aren't going to like something, so they never give it a chance. In that case, yes they are missing out on something good. It is an immature trait which can be irritating for their friends and families because usually where or what the family eats always revolves around the picky eater. It is also rude when you are a guest.
Having said this, I was an extremely picky eater as a child. Eventually I matured and some of the things I now love the most were things I wouldn't touch as a kid.
My standard now is that I will try just about anything (with the exception of eyeballs, genitalia or anything with a natural slime). If enough people think it is good, then it is probably good. I haven't tried a single bite of food that has killed me yet........