I'd prefer a book using results based on both molecular and classical methods. If there's no such book covering the whole animal phylogeny, then I'd also welcome a book on "Chordata" or "Vertebrata".
I can recommend: "Animal Evolution. Genomes, Fossils, and Trees", edited by M.J. Telford & D.T.J. Littlewood ... published by Oxford University Press in 2009 ... ISBN 978-0-19-957030-0
I agree that a good and recent overview of the topics you are interested is THE TREE OF LIFE (eds Vargas and Zordoya) - 2014. http://www.sinauer.com/the-tree-of-life-630.html.
If you read German, there are few books on the subject that match "Spezielle Zoologie" by Westheide and Rieger. Hardcore phylogenetic systematics, no group remained uncovered, best specialists writing on their fields of study; unfortunately, I do not know if it was/is/will be translated to English. Here's the volume 1. in German:
I suggest this one which is a very recent up-to-date on this topic:
Deep metazoan phylogeny. The backbone of the tree of life : New insights from analyses of molecules, morphology, and theory of data analysis. Wägele JW, Bartholomaeus TW, Misof B (eds.). Berlin : Walter de Gruyter, ISBN:978-3-11-027752-4