Unfortunately this will be very subjective as Bill mentioned above both have strength's and weaknesses. I have the H3 and also own the H1 and have owned the H2. The H3 is better than all the previous versions IMO. However although the H3 does not require a sub IMO, they would benefit from one.
I do not and have not owned bookshelfs from the RP line, I hear great things about that little bookshelf. If you like the way they sound add a sub and enjoy them.
I've owned several Klipsch speakers but still own 2 pairs of the little Heresy!!