When I started out, I read Seneca, Suetonius, Caesar -- as much first hand material as I could. Don't know if that was a good idea because I found it difficult to plug through and even harder to retain. Since then, I've beefed up on my knowledge of Roman history -- mostly by listening to audio courses from the terrific Teaching Company (www.teach12.com). These are in-depth college level courses that make Roman history live for you. Now that I feel I have a firmer foundation, I want to go back to the original sources. However, to answer your question about recommended reading: "Pride of Carthage" by David Anthony Durham. It chronicles Hannibal and his brothers and makes all the characters flesh and blood people. Another one I enjoyed was "Imperial Governor" by George Shipway. It's billed as a novel of Boudicca's revolt in Britain, but it's more the story of Sueotonius Paulinus and how as Governor of Britian, he kept it under Roman control.