Maybe it's just because he's the one I grew up with, but Pierce Brosnan is the actor who most embodies the character of James Bond for me. He's suave, conventionally handsome, and more lithe than brawny. He prefers to use tools and gadgets, and if he does get into a fight his fighting style is more about skill with martial arts than brute strength.
Timothy Dalton is a close second, but his Bond had a much more serious, hard edge to him. He has the look, but not the charisma.
Daniel Craig is definitely more of a brawler, and you could almost say the same for Sean Connery. Connery was also suave, but too much of a womanizer. I guess that's part of the character, but it's too uncomfortable to watch.
I'm not a Roger Moore fan because I don't like the sillier tone of those movies.
As for George Lazenby, I thought he was good in his single film, but I don't think Bond works as a family man.
As for who was in the best movie, I think it's a tossup between Craig in Casino Royale and Brosnan in GoldenEye. I really like Dalton in The Living Daylights as well, but I can't argue it's the best.