I have heard from the V8 developers that Mozilla do some optimizations just to score better on benchmarks - i.e. they score really good on things that are specifically benchmarked. I have not verified their claim, but generally for me as an user Chrome and Safari feel a lot faster than Firefox.
As to the faster claim - I've been using Firefox 3.6, Chrome, Safari 5, and Firefox 4 interchangeably and I've noticed a dramatic improvement in quality from Firefox 3.6 to Firefox 4 - they've really done a great job with the upcoming release.