If there is one service I will avoid, it's UPS. I get shipments via FedEx all the time, and they are very good with signature items, and have never left one that required a signature at the doorstep. At one point the driver I had gave me his cell number, so if I was going to miss him I could shoot him a text and let him know I wouldn't be there. He used to come around the time of day when I was typically out walking the dogs, so if I didn't; answer, he would drive around the block looking for me to sign for the parcels. In some cases when he missed me, if he had time he would drive back to my area at the end of his day to drop the parcel off.
He has a different route now, but even the fill in drivers are all good, and the new "permanent" driver on this route is very good.
Canada Post is similar, in that I know the person who does this route (her mother lives 4 doors down from us) so that certainly helps. She is very diligent with parcels, so doesn't leave them out ever, and will come back a second time if I am not home. No issues there.
UPS is about as opposite as you can get. They sometimes knock, and sometimes just leave the package at the door. The "regular" driver knows I'm here, because if I am quick enough I have caught him a few times as he's getting back in his truck, and I have yelled out "Thanks - do you need a signature for this?" and he has come back to get it. Over about 5 years time, he has now come to realize that if he just knocks and waits for 20 seconds, I'll answer the door, so it's decent now, but it's not always the same guy.
Cheers, Al