The three you mentioned seem a good fit and will uphold your requirements. I think you should go on with what you feel most comfortable\familiar with.
From my personal experience, I do believe ZeroMQ is the best combination between efficiency, ease of use and inter-operability. I had an easy time integrating zmq 2.2 with Python 2.7, so that would be my personal favorite. However as I said I'm quite sure you can't go wrong with all 3 frameworks.
Half related: Requirements tend to change with time, you may decide to switch framework later on, therefore encapsulating the dependency on the framework would be a good design pattern to use. (e.g. having a single conduit module that interacts with the framework and have its API use your internal datastructures and domain language)
