Maya is definitely known for having good character animation tools. I can't speak about other software. In the end, it will be a matter of personal taste--download some trials and try out a few different programs.
I agree with Steve, at work we typically use Maya. All the major programs have basically the same stuff, just with different layouts and shortcuts, although some do certain things better. Maya is an industry standard so you can do a lot with it and translate those skills else where.