If you used a mix, depending on the range, device support and signal, either the router or the device will connect at the best mode and speed. If you use single modes then ya, you'll always get connected at that mode and speed.
Theres been some information about AES having better performance over TPIK.
Also in regards to mode, if you have newer devices that support N, then why broadcast modes that you don't really need. I'm not sure if the new generation routers have B modes however most devices even though they can use B modes, are mainly using G or N modes now days. Turning off B mode helps the router as it doesn't have to manage this mode any more and and out put a better signal when using Mixed G and N or Single mode G or N.