Obama was the best in my lifetime, and would've been even greater had his political environment been even a little bit less hostile. I don't think many people in his situation would've been able to do as well.
I don't know what Clinton did specifically, but I'm not sure if he was riding out the good times.
Biden was pretty good, but he made major errors in foreign relations, and mostly did things that have been rolled back or are being rolled back. No permanent mark like the ACA.
http://www.youtube.com/user/san3711