I watched a show on the Smithsonian channel last night talking called Inside the White House.   It mainly focused on the 95 members of the Whitehouse staff and their experiences with the presidents and their families.  The staff stays constant as the presidents change. You could kind of get a feel of which presidents families they enjoyed the most. Much of the staff has served over several presidents.

They all loved George and Barbara Bush.   She would go down each day to the lower level (where presidential families usually would not go) and be a grandmother to the staff and see how they were all doing, and George set up a horseshoe throwing contest he would participate in with the staff frequently.  

As far as the Clintons,  they seemed to like Bill and Chelsea,  but didn't really mention much about Hillary.  The chef said he would make her Mocha  cake when she had a bad day,  but that was about it. They must have went by the old saying: if you can't say something nice, don't say anything at all.