as a novice I would say that wordpress would be the easiest to master, although I personally much prefer to use joomla myself. drupal "apparently" is the most developer friendly but I find it a bit backwards in going forwards, and would probably be the hardest one to get a handle on.
all three are php based so you would need to have at least "some" knowledge of php in order to setup and build the website, but after you've made a few websites with them you'll be fine.
my suggestion would be to tryout all three and the one that grabs you the most initially is the one that you run with. Each to their own but in order of preference for me would be joomla, wordpress and then drupal.