I think that OOP is the best way to accomplish the goals you list only if you stick to languages with mainstream appeal - but think it's sad that's the state of the world. Objects (as they are used in e.g. Java) default to stateful and complect data with the methods on that data. I find that most of the time what I want is closer to OCaml's Modules[0] which give me many of the tools of code organization without the complexity with state. (note that OCaml allows objects, so you get a real sense for how often you want an object over a module, 95% of the time I wanted a module).
Maybe one day modules will hit the mainstream.