I use couriers on a regular basis. There are many services in the valley and I've had luck with several. Hot Shot is one of the best. They have been my primary courier service for the last two years and I'm very pleased.
One thing I like about Hot Shots is that they have small pickup trucks and large box trucks for larger items. Think about that next time you have something to pickup or drop off 40 min on the other side of the valley. Even moreso for those of you that need to borrow or rent a truck & drive across town. Call Hot Shots next time and forgettaboutit.
ProTip - If you get your act together before noon or 1pm, you can opt for the 4 hour service and save some coin. They offer 2hr, 4hr, and maybe 1hr too.