its not who you like the most but who do you find usefull in gameplay.
ME1: not always but i prefer using Garrus and Wrex sometimes i pick liara
ME2: Miranda (i love her) plus she is second in command and is reporting back to TIM so made sense for me and Garrus,Grunt(Zaeed and sometimes Mordin)
ME3:Liara Garrus (Javik)
Edit: i dont use them all the time but these teammates i use most of the time.
Forgot Tali use her in all 3
ME1 - Ashley and Kaidan
ME2 - Miranda and Zaeed
ME3 - Ashley and James
I almost always pick squad mates who are my Shepard's besties or in other ways important to them, not because of how useful they are.
But if I'd go along with usefulness, it'd be:
ME1
Liara/Kaidan - Biotics in ME1 are great and I love hurling mooks off the map.
Tali - I value her Hacking, makes some missions quite easy.
ME2
Miranda - Has Overload and Warp, which means she's valuable in pretty much all situations, especially if you can pull off Warp bombs.
Mordin - Incineration Blast/Cryo Blast = Goodbye husks 
Very good for stripping Armor.
ME3
Kaidan - Overload, Cryo Blast, Reave. All the things you need for pretty explosions. He's a jack of all trades and incredibly useful.
Liara - Fast Singularity, fast Warp.
ME1 - Wrex, Kaidan and Garrus
ME2 - Thane, Legion, Moridin, Garrus and Samara.
ME3 - Garrus, Kaidan, Liara and Javik.
I almost always pick squad mates who are my Shepard's besties or in other ways important to them, not because of how useful they are.
and this
That largely depends on the mission and which class I am, but on my favorite Shepard (vanguard):
ME1: All except Ashley -- I only use her for about 2 missions. Everyone else gets pretty regularly rotated. Perhaps Wrex less so.
ME2: Miranda, Garrus, Thane, Mordin, Tali... and Samara, I suppose.
ME3: Kaidan, EDI, Liara, Garrus
...I think that's about right. Usually my Shep's special someone is a regular anyway, so... 
ME1 : I actually can't remember.. Liara and Ash? Everyone got a run except Kaiden, poor guy.
ME2 : Kasumi and Jack, or Thane and Miranda. Or anyone and Miranda, really, I love having her along too.
ME3 : Liara and Ash again, made the beam run. Javik got a bit of use too, lift grenades are the best.
I usually play biotics, so my team is generally biotic + a character with mission / story relevance.
Mass Effect 1: Mostly Liara and Kaidan since they are best at crowd control. As Infiltrator Shepard I may go with Ashley and Wrex because Team Tank is practically unkillable.
Mass Effect 2 as a Shepard with Lift or Slam: Miranda mostly, for Warp bombs. Later, Thane.
Mass Effect 2 with defense-stripping Shepard: Mordin, for his evolved Cyro Blast.
Mass Effect 2 with any other setup: Mordin probably (Cryo Blast again).
Mass Effect 3 with any biotic power: Liara and Javik for biotic detonations.
Mass Effect 3 with Sabotage: EDI and Tali.
Mass Effect 3 with any other setup: variable.
Mass Effect 1 : Liara and Garrus with occasionally Wrex and Tali
Mass Effect 2 : Garrus, Kasumi, Jack, Thane, Grunt
Mass Effect 3 : Liara and Garrus with Javik and EDI occasionally
Often I will mix them up or use some squadmates I have been ignoring/forgotten about. Except Jacob of course.
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