They
are a family, as in, all of them were almost certainly created by the same group.
Symantec said that Duqu is "near identical" to Stuxnet. As for Flame, Kaspersky[0] initially said that it contains no resemblance to Stuxnet, and then later on discovered that they've even shared a zero day in their early versions.
From my understanding, I don't necessarily consider them as different software, more as a single software + forks by the same group for different purposes and with different zero days.
Stuxnet just happened to be the one that got to be the most popular one, for a number of reasons (most destructive, attacking the most sensitive targets, the one that got out of control and spread outside of Iran uncontrollably, first to be discovered...), so I refer to Stuxnet as the original one and Flame and Duqu as more of forks than completely different pieces of software.
Which one is more sophisticated between the three would be the same as if we tried figuring out which Linux-based OS is the most sophisticated, except that in this scenario, we only have 3 Linux distros (maybe four with Gauss) and they've all been created by the same group. There's really no point in trying to compare their sophistication.
[0] Before people bash on me for using Kaspersky as a source, Kaspersky, Iranian CERT and a university in Bucharest were the ones that initially discovered Flame, and Kaspersky's the group that published the first detailed analysis on Flame.