I have worked with both Joomla and Drupal and I am impressed with both - that's not to say anything bad about wordpress, I just don't know it.
Which I chose at any time depends on a number of factors:
1) what the site is about -
2) my current obsessions!
3) If I'm doing something rapidly - the themes that are available
For the first, both do a good job of publishing content - I found Joomla easier to get my head around, but it could be argued that Drupal has more power in the long term. So the decision could be made around which modules are available for putting the site together quickly. Both Drupal and Joomla are richly supported by communities and there are sites dedicated to explaining the modules.
Drupal can host more than one site, each with different content and themes and even functionality, from one codebase - this makes upgrading much much easier. But if you are only running one site you don't need this.
Drupal has some great features for social networking sites - Joomla has some great modules for specific business types - some of these are commercial but very much cheaper than you;'d expect (tens of dollars not thousands) and very much cheaper than building your own.
Can you tell us more about what your site(s) is for/about?