Best cross platform messaging service

I live in a family of three. We mostly use Apple products e.g. iPhones, MacBooks, iPads. Now there is one problem I use a Nexus 4 which makes messaging a lot more difficult.

The easiest way would be to use iMessages but then I wouldn't get the messages on my phone. If we would use WhatsApp I would't get the messages on my Mac and iPad. So you see my problem?

Does anyone know a RELIABLE and FAST service which would work and sync across all those devices? (Macs are not as important)? It would be even greater if the service was encrypted and looked good.

Thank You!