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Quantum computing challenges the computational hardness assumptions anchoring the security of public-key ciphers, such as the prime factorization and the discrete logarithm problem. To prepare for the quantum era and withstand the attacks equipped with quantum computing, the security and cryptography communities are designing new quantum-resistant public-key ciphers. National Institute of Standards and Technology (NIST) is collecting and standardizing the post-quantum ciphers, similarly to its past involvements in establishing DES and AES as symmetric cipher standards. The NIST finalist algorithms for public-key signatures are Dilithium, Falcon, and Rainbow. Finding common ground to compare these algorithms can be difficult because of their design, the underlying computational hardness assumptions (lattice based vs. multivariate based), and the different metrics used for security strength analyses in the previous research (qubits vs. quantum gates). We overcome such challenges and compare the security and the performances of the finalist post-quantum ciphers of Dilithium, Falcon, and Rainbow. For security comparison analyses, we advance the prior literature by using the depth-width cost for quantum circuits (DW cost) to measure the security strengths and by analyzing the security in Universal Quantum Gate Model and with Quantum Annealing. For performance analyses, we compare the algorithms’ computational loads in the execution time as well as the communication costs and implementation overheads when integrated with Transport Layer Security (TLS) and Transmission Control Protocol (TCP)/Internet Protocol (IP). Our work presents a security comparison and performance analysis as well as the trade-off analysis to inform the post-quantum cipher design and standardization to protect computing and networking in the post-quantum era.