What is best? Scion XB, Kia Soul, Nissan Cube?

My husband and I are trying to decide which one is best for our family. He wants a car with good pick up, low maintenance, and comfort. I want style and safety. We both want a good price under $20,000. We want a car that will be good for a family. I'm about 2months pregnant and we have a small dog. We love going on trips so we want a good smooth comfy ride.