That depends on the type of steel.
It does, but the differences are huge. The lowest quality steel you'll find on a knife that doesn't cost less than $5 at a flea market (such as on a Swiss Army Knife) will be around 55Rc. The benchmark for hardness of premium steels (such as S30V, 154CM, VG-10) is 59-60Rc. The hardest most titanium alloys can get is 40-45Rc. IIRC, Rc hardness is also (reverse) logarithmic. That is to say, the difference between one Rc is smaller the harder you get.
If a blade of 60Rc dulls significantly from daily use such as cutting up cardboard, a blade of 45Rc will dull beyond usefulness extremely quickly. Of course, we're talking 2 different metals with different carbides and different coefficients of friction, but in all practicality, titanium simply doesn't hold up as a blade material.
Do not confused hardness, or edge retention. with strength. Titanium is very strong, and extremely strong when comparing strength-to-weight ratios. However, carbon fiber is also extremely strong. Fiberglass is extremely strong. Plywood is extremely strong.
But when you're talking about knives, steel is the best choice in terms of performance. You can make CF or fiberglass, or even cheap plastic sharp enough to cut (just ask any convict), but durability and edge retention is a different matter. You can make a knife (or shiv) out of anything, but cutting skin is far easier than other materials you might want to cut with a knife. Think paper cuts. Hell, I sliced my tongue up pretty bad once on a Jolly Rancher that got too thin. But I wouldn't make a knife out of paper or candy.
There are knives made from G10 fiberglass, or even plastics like Givory. But the usefulness of these are extremely limited. Perhaps as a light-weight self defense tool, or purchased by somebody who thinks they're James Bond, but will probably only ever see use as a letter opener.
Titanium is the same sort of thing. Titanium knives exist because they're lighter than steel, and won't rust. But they almost exclusively exist as back-up, self-defense knives that'll cut flesh fine (and edge retention isn't a factor), rather than daily utility blades. Trying to use a Ti knife as a regular knife would be an exercise in frustration and a waste of time and money.