NOT atheists because that would not be nice - just atheism.
Yes, Catholics do claim to be the "universal" church. Muslims pray to the same God. (And CS Lewis would suggest that the "real" God listens to all prayers that are prayed with good intention, regardless of which "religion" you espouse.)
What I see you missing out on is the understanding of the Trinity and how that affects you.
As for Judaism, Christ's death and resurrection brought a new reality into the world and creation's relationship to God changed as the results of the fall were re-ordered.
Christ established the new universal church.