I prefer Vanguard, because of their low expense ratios, no fees, and pretty decent funds. Of course, you could purchase Vanguard funds from any of the brokers you mention, but why go through a middle-man?
The only other company in your list that I've had an account with was Fidelity. I only had the account because of my employer's stock purchase program. I didn't really like their Web site, but other then that I didn't really have any complaints.
Both companies have pretty good customer service, Fidelity a little less so because they tended to transfer me to different people a lot. Vanguard I just call 'em up and whoever answers the phone has always been able to answer all my questions, though I try not to call them too much, keeps the fees low