The best (in my opinion) way to do what I think you're talking about is to use the Offset Path function. Select the path you want to emulate, go to Object -> Path -> Offset Path and play around with the settings to get it to where you like it. Generally, you'll offset with a negative value to get the effect you are describing, but I also use Offset Path for strokes and shadows (with a positive value). You'll most likely have to edit the points with the direct selection (white arrow) tool, and add or subtract points with the Bezier Pen after you offset, and it may seem tedious, but the results will be much better. It may take awhile to get used to it, but once you do, you're golden.