Speed of sound (SoS) is a novel imaging biomarker for assessing the biomechanical characteristics of soft tissues. SoS imaging in the pulse-echo mode using conventional ultrasound (US) systems with hand-held transducers has the potential to enable new clinical uses. Recent work demonstrated that diverging waves (DWs) from a single element (SE) transmit to outperform plane-wave sequences. However, SE transmits have severely limited power and hence produce a low signal-to-noise ratio (SNR) in echo data. We herein propose Walsh–Hadamard (WH) coded and virtual-source (VS) transmit sequences for the improved SNR in SoS imaging. We additionally present an iterative method of estimating beamforming (BF) SoS in the medium, which otherwise confounds SoS reconstructions due to beamforming inaccuracies in the images used for reconstruction. Through numerical simulations, phantom experiments, and in vivo imaging data, we show that WH is not robust against motion, which is often unavoidable in clinical imaging scenarios. Our proposed VS sequence is shown to provide the highest SoS reconstruction performance, especially robust to motion artifacts. In phantom experiments, despite having a comparable SoS root-mean-square error (RMSE) of 17.5–18.0 m/s at rest, with a minor axial probe motion of ≈0.67 mm/s the RMSE for SE, WH, and VS already deteriorate to 20.2, 105.4, and 19.0 m/s, respectively, showing that WH produces unacceptable results, not robust to motion. In the clinical data, the high SNR and motion resilience of VS sequences are seen to yield superior contrast compared to SE and WH sequences.