Mars Polar Lander happened. If you actually want to perform comprehensive science at these targets, you actually need to spend money.
In other words, you can have two out of three of "faster, better, cheaper", but not all three at the same time.
Secondly, an orbiter is needed to determine the thickness of the ice shell, which is important if you want to access the ocean. Designing a mission that needs to dig down through 2-5 km of ice is quite a bit different than digging through 20-30km. Plus, an orbiter might be able to find areas where the shell is thinner, further helping later lander developers pick a landing site.
The Europa mission is a bit more tame by comparison, but has a lot more technological development to back it up (which would help it come in somewhere close to its original budget). There are two orbiters. The NASA-built orbiter would explore the inner two large moons of Jupiter: Io and Europa; while the ESA-built orbiter would explore the outer two large satellites: Ganymede and Callisto. Unlike the Titan mission, no landers are planned with this mission, but the instruments on-board both spacecraft would allow it to provide more detailed global mapping of Europa and Ganymede than the Titan mission, which as mentioned before would only provide 50-m per pixel global mapping with selected areas at higher resolution imaged by the balloon (which would be limited to a relatively narrow latitude band since Titan's winds are mostly east-west).
The NASA-JPL website has a page with more detailed documents outlining the mission plans for each moon: http://opfm.jpl.nasa.gov/library/
Kleeneness is next to Godelness.