3001s will work well. If you have the money, 9202s are better.

For the rudder servo, the 9253 is ideal, if a bit pricey. The GY240 won't take full advantage of the 9253, but it will help. If you can't spend that sort of money, a 9202 will be better than a 3001 due to its coreless motor (faster acceleration).

If you are just starting out with helicopters, precision (centering) rather than speed or mega-torque is the most important thing.

I've tried Hitec 545s for collective and cyclic. They worked OK for me. The Hitec 525 (slightly faster) didn't really work better than a 3001 or 9202 on rudder.