I'd suggest:
Crest of the Stars a Sci-Fi, but I think you ought to try it as it matches your other requirements quite well.
Ranma 1/2 since you like Familiar of Zero
Inuyasha since you like Familiar of Zero
The Melancholy of Haruhi Suzumiya (watch in DVD order)
Chrono Crusade set in America of the 1920's, magic, a bit of romance.
Kokoro Connect magic in normal life, romance
Mirai Nikki Romance, Magic in a normal world, action.
Read or Die
Full Metal Panic Mecha instead of magic, but otherwise what you want.
Neon Genesis Evangelion
Katanagatari Definitely should watch this one.
Tenchi Universe and
Tenchi Muyo