GOG: No DRM, you "own" the game in that the file you download is yours to do with as you please forever (provided you don't delete it or otherwise lose it). GOG does allow you to re-download all your purchased games as many times as you want. If GOG goes under, you can still use your games.
Steam: The client is DRM in and of itself, in that it is required to validate, decrypt, install and run the games. While you do have the freedom to install (most) games bought through the client on as many computers as you want, you can have the access to those games revoked for violating any of Valve/Steam's rules. If Steam goes under, you could lose access to all your games, but they have stated in the past that they would not let that happen
D2D: DRM really depends on the game. Most require some kind of online activation, but others are virtually free of DRM completely. AFAIK, you are only given a limited amount of time to download your files and once that time is up, you can never get them again without purchasing an additional "extended download service". If D2D goes under, you might lose the ability to re-install your games, but games that are already installed will continue to function.
Impulse: Pretty much a hybrid of Steam and D2D. DRM usage depends on the game, and the Impulse client is not required to run any of the games, but it might be required to obtain updates for the games. If Impulse goes under... it depends on the game. Any that required some kind of activation might not be re-installable, others might have no issues at all.
With all digital services, you don't actually own anything, you are only licensing the use of the software. Some like GOG don't have the ability to remove your access to the software, so you do in effect "own" the game. Others like Steam are more like a rental service, in that your access to the games is completely under Valve's control.
As for which ones are better than the others, it all depends on what you are willing to accept. If you want full control of the games you have purchased, then GOG and selected titles from D2D or Impulse are the best. If you just care about the games, then whichever one has the best games at the best price is the best. Its really up to you.
Post edited September 12, 2009 by cogadh