All the major CMS products you mentioned should be in order. See who else uses them; This is a great way to judge how good a product really is. For example, Drupal is used in the White House. This fact gives me great confidence in Drupal.
It is important to make sure that you are constantly updating any security patches that have been released.
The vast majority of security issues in all of these products come from non-core modules that you can install. If you are really worried about security, I suggest keeping the number of modules you use to an absolute minimum.
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