Aspirin works pretty well for me. Better than Advil for muscle and joint aches. Advil seems better for headaches. Tylenol has little or no effect on me.

Caveat: one thing they teach us in the motorcycle world is that aspirin and some other NSAIDs are bad when riding, because they're blood thinners, which can make bleeding harder to stop in case of an accident.

And, contrary to what Chromedome says, I find that a drink or two after a really long ride does have a pleasant muscle-relaxant effect.