If you look at the top devices by HTC, Motorola, and Samsung; you can see it is very competitive but clear who the winner is:
HTC:
Nexus One
Droid Incredible
MyTouch 4G
G2
EVO 4G
Samsung:
Galaxy S
Nexus S
Transform
Intercept
Moment
Motorola:
Droid X
Droid 2
Droid Pro
Original Droid
I would say that collectively, HTC has the best phones. But as a former owner of HTC smartphones (Hero, Evo 4G) I would say that Motorola makes better hardware with its high-end devices. The Droid X and Droid 1/2 are extremely sturdy devices and beautifully designed. I think the best processor goes to the Samsung Galaxy S devices.