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for me Juniper Netscreen, its easy to configure, best compared by quality vs price.
Mine is self modified Pfsense.
Cisco ASA.
Cisco produce best network devices.
It is really difficult to specify the best.Every product has some special features than others.That is only the reason they are still in market.
However, for yourself the best practice should be check the comparision chart and find out which device will meet your requirement.For performance among these three I could say Cisco ASA is good as well.But keep in mind price is another important factor.
Here is the link where you will find lots of appliances.Compare features and prices and choose the device meet your requirements:
It depends on the needed features and specs, Each device has its own cons and pros, Cisco has its own features compared to price and also Juniper too, for me Juniper os is more manageable and stable.