Sadly, the ps2 doesn't really have many people developing four player games for it. I don't know of any co-op FPS games for it at all. Ratchet and Clank: Up Your Arsenal does/can play like an FPS with a deathmatch, capture the flag, and onslaught-style mode (and can also play online), but if you're thinking co-op, those usually have been RPGs like Champions of Norrath or Gauntlet (eww...)
Uh, as far as hand-helds go, the PSP seems to largely be ports and remakes. The DS has a wide range of game types, since Nintendo wants to appeal to everybody, so it has puzzle games, action games (ala Lunar Knights, Viewtiful Joe), adventure games (Hotel Dusk, Phoenix Wright, Trace Memory), RPGs (Final Fantasy 3, Digimon World DS, Magical Starsign).
So really the reason to get a DS might be to experience a lot of different types of games you might not otherwise get to play. It has a lot of unique games since handhelds are cheaper to develop for than consoles...
Though, best system out of everything altogheter, I don't know. I love my DS, but you can't say it's better than a PC or a home game console. You could say there's a wider range of games for PC, if you're willing to look enough (look at old games, indie games, freeware, shareware...)
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