I'm tempted to say, ...
... "if price is no object," but for the nonLexis set, which is most of us, it usually is. If $$$ really doesn't matter, then get the HK compact. The one I handled briefly fit my hand well. But when informed that mags were running something like $50 a pop, my wallet suddenly got a bad cramp and doubled over. I handed back the HK and the snooty counterguy immediately got an attitude and wiped it down, as if my working-class fingerprints had somehow left smudges.
(And here I thought it was hard to smudge up polymer).
For most, that leaves the choice squarely between the Sig and the Glock.
For "range & home SD purposes," the Glock will give you more capacity between reloads, either 10 or 13 depending on if you can access the hi-cap prebans. This is a nice feature to have at the range - less time loading-up mags is more time spent shooting. The Sig is extremely accurate and reliable.
Perhaps the most important issue here is hand-fit, as both guns embody radically different ergonomics. My 10mm G-20 has the same size frame as the 21, but I have big hands, so the large-framed Glock fits me well. OTOH, I've carried a Sig220, and of all the Sigs I've shot the 220's grip felt the best in my hands.
HTH.
As always, YMMV.