Marble is too soft for a kitchen as it's prone to etching too easily & rings from wet glasses are commonplace.

Granite is the way to go but soapstone & caesarstone are a fine enough substitute if cost is a concern.

If you are looking for something that is not high maintenance, I would suggest that you stick with Caesarstone. Of the three materials you noted, Caesarstone will continue to look 'new', while most marble and soapstone may begin to develop a soft 'patina' with typical kitchen use, including some staining (red wine, oils) and etching (tomatoes, citrus, vinegar). I've assisted many clients with their countertop choices. If an easy-care material is a high priority, I would encourage you to explore some of the many 'engineered' materials available. Good luck!