I personally love Danvers. It's a larger city with a small town feel. It has lots of resources - good schools, lots of activities, a great church (St. Richard's), and I know lots of great people that live there! I don't really know it's the best - it's just my favorite.
I really like Salem. It has some great historic sites along with some really cute shops and excellent bars/restaurants and it's right on the ocean. Nothing better than that! :-)