I would look at: Honda Civic / Jazz, VW Golf / Polo, Seat or Skoda Golf / Polo. Avoid doing daft things like buying a 1.4 Golf – a 1.4 VW engine might go round the world twelfty times, but it'll only bang out 60bhp, whilst the Japanese equivalent will be managing 100.
Toyota are also reliable etc. but they just don't excite me at all. The Aygo is astonishingly spacious inside, but also built on the same production line as the small Pugs and Citroens.
Of that lot, the VW group stuff will be the cheapest to maintain. Parts for VWs are surprisingly cheap, Japanese parts are eyewateringly expensive. That said, depreciation may come into more than maintenance costs.
The Suzuki Swift is small, properly small in the back. It also has a terrible ride.
If you're doing major mileage, it may be worth going diesel (say more than 25k a year), but otherwise, petrol is the daddy. Less complicated, more reliable, cheaper to buy.