Almost any speaker that represents a full size speaker will sound better then the Bose! Reason you were impressed is because you had no other speaker to compare it against side by side. Not sure how much Costco was trying to sell it for but normally their around $540 range on line, that is budget territory.
Edited; I got speakers mixed up and thought that Bose model was surround sound, I realize afterwards that that model is not. So new info. Again Pioneer to the rescue, model Pioneer S-A4SPT-PM Pure Malt Speakers, the Klipsch Reference Series RB-61 II, and the Fluance Higher Fidelity Two-way Floorstanding Pillar Speakers ES. The first two are small speakers, the Fluance is a floor standing speaker which will have fuller sound. However, all these modern speakers are designed to be used with a powered subwoofer which none of those come with so you will need to pick up one of those.
Now here's the big problem with speakers, I can sit here and list speakers all day and it won't do a bit good because you need to hear those speakers in person, what speaker may sound good to me may not to you. So you need to listen to speakers with your own CD's of the kind of music you listen to and not some store demo. The store demo sound is purposely chosen by Bose, in your case, to showcase their speakers the best, but using a different sound will deflate them. And a lot of speakers on the market that have high ratings are difficult to find in walk in stores if at all! However, I will say that either of the three speakers I mentioned in my first paragraph will stomp all over the Bose! So even if you want to order on line you will get better sound from either. And it may simply boil down to size, while the Fluance may be a bit better then the Pioneer or the Klipsch (just my opinion) you may not want the larger size speakers of the Fluance therefore the other two will be more attractive to you because of their smaller footprint.
I think the some Best Buy Stores carry the Klipsch and the Bose you should wander down to one and test listen and see what you think. Bose has never impressed me, not even their most expensive 901 series, they use very cheap paper drivers for most of their speakers, they simply alter from single cube to twin cube to multiple speakers in one box, but the little 3 1/2" speaker they use probably cost Bose $5 to buy. And with any small driver less then 5 inches across your not going to get a whole lot out of them and Bose uses the smallest in the industry for home systems which makes them less then idea.
The Cambridge you mentioned I've never heard but looking at them I would think they would better then the Bose. But if you want to do a little bit better I would suggest getting one of the three I mentioned and buy a sub-woofer, but if budget is a problem then get the Cambridge but you still need a sub.
On Line through Amazon you can find either of those speakers I mentioned for about the same cost or a little less then the Bose but will end up costing a bit more when you add in a subwoofer, however you will be happier in the long run.