1) The proton rocket was originally built as an ICBM. So was the Titan II rocket that the US launched for a while, so it also used a storable fuel (as did the Titan III and Titan IV that were derived from it). When you want a rocket that can be stored in a missile silo for years at a time with minimal maintenance, but be ready to launch in minutes, liquid oxygen isn't going to cut it. I'm not sure why the early Ariane rockets used it. They weren't, as far as I know, ever intended to be missiles. It does make a simpler engine (no igniter needed). The Ariane 5 upper stage used to deliver the ATVs to the space station uses hypergolic fuel because the cryogenic upper stage (which is more powerful, and used to launch satellites into a geostationary transfer orbit) cannot be restarted, while the storable upper stage can be. 2) LH2/LOX still does have the highest specific impulse of any fuel, so it's not unreasonable to use it as a first stage, even if it does require larger tanks. The space shuttle and Ariane 5 both have solid boosters to help provide additional thrust in the early stages of flight. The delta IV can (though doesn't necessarily) also use solid rockets to help it out. And anyway, LH2/LOX engines don't necessarily do too poorly in the thrust to weight department. The Vulcain on the Ariane 5 and the Space Shuttle Main engine are pretty comparable to the RD-180 used on the Atlas V. 3) While it's true that solid rocket motors have a fixed burn time and cannot be shut off, that's also more-or-less true for liquid fuel motors too, in that the burn profile is pre-programmed into them before launch. Real motors used on launchers are not, for the most part, like KSP motors: they generally do not have throttle ability, and are not used to fine-tune the orbit. The booster delivers the spacecraft into an approximate orbit (which is generally pretty good: they can get within a few dozen m/s of the desired velocity), and then the spacecraft itself will do the fine-tuning with much smaller motors, making course corrections as needed. Most launchers will not put a satellite into a geostationary orbit: They will put the satellite into a highly elliptical geostationary transfer orbit and let the spacecraft maneuver itself into the final orbit. This is true of interplanetary launches as well: The launcher will get the spacecraft headed in approximately the right direction, but multiple course corrections will be needed during the cruise phase.