I don't know when was the last time you tried Telegram, but maybe you need to try again, as some features may have changed/improved. For me Telegram is the most convenient and powerful messaging program and by far is my most preferred one. The two-step verification thing is true, though obviously just the first time around you connected a client (either mobile or desktop), but it's kind of needed since unlike Hangouts, Telegram can't piggyback on Google's authentication, similar with Facebook Messenger piggybacking on Facebook (both of which are likely already on your devices, and therefore no need for additional authentication). So maybe you'd want to try it again and see how it's like now. It doesn't have voice or video calling, though, if it's something that you need.
Having said that, I'd have to also suggest Facebook Messenger like everyone else above. It really is a superb messaging app, and I believe it will cover all your needs.