Obviously, a 10 mL pipet, with its narrow neck and +/- 0.01 precision, is the best choice. A 10 mL graduated cylinder is precise to +/- 0.1 mL. Any graduations on a beaker are approximations, at best. A beaker is the worst choice.
Roger the Mole
A 10-mL pipet is most accurate, because it is made most accurately for the purpose. You would never use a beaker because beakers are not made to measure accurate volumes.