With Signal, the key is always changing and old keys are discarded. With Threema, if someone were to steal your encryption key, they would be able to decrypt all your past messages and they would have mathematical proof that it was you who wrote them. The way it does the first two is by having a " double ratchet algorithm" that constantly changes the encryption keys. While Threema has end-to-end encryption and authentication, the Signal protocol goes beyond that to also give you perfect forward secrecy, post-compromise security, and plausible deniability. The Signal protocol is the state of the art in private communication.
Signal has a more secure secure protocol.
I prefer Signal but here is my attempt to give an impartial list of pros for each one:
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