Samsung and Motorola have a wider market cap to a point in which one is way ahead of the other. As for the two, Samsung may be regarded as the best company compared to Motorola.
However, in some way, Motorola may also be the best company if you are looking to get a budget smartphone and also they have the latest Android updates and security patches compared to Samsung. Samsung is known best for issuing flagship phones and has a good marketing strategy compared to Motorola.
Both companies however have good reviews with regards to customer care services and friendly user interface of their phones.