What program to start learning to model 3d characters?

Question

3D

Hello, advise a program for modeling 3D characters, and modeling their movement, facial expressions and other things. For later insertion into the video.
I know a little Cinema 4d, I took ready-made characters, made bones and movements, and inserted them into the video using After effects. But he did not model.
Now I want to learn, so to speak, to expand the options for creativity and invent them ourselves. So that it was possible to create believable ones, so that in the video it was not possible to distinguish by the maximum, well, so that they would not look very artificial. I would like it to be convenient to work, well, the speed of work. Videos need to be released frequently. I thought to continue and study Cinema 4d, but I don’t know, there are a lot of things written on the Internet ... That zbrush is cool, and blender ... So I don’t know. Previously worked at Solidworks. Of course, this is a different issue.)
I decided to turn to people here who really worked and understand all this movement. Please tell me good people)