I'll 2nd the hitch mount rack, they are the easiest to use, and remove when you aren't planning to use them.

A few things to consider:
? You do need to install a hitch (CURT brand comes to mind)
? gaining access to your hatch with the rack installed can sometimes be funky, depending on if the rack has a tilt/swing arm. Not really an issue if you can fold down the rear seat.

Anything that is going to mount to your car's body panels could damage the paint over time, if that is a concern.

I have this one (or the three bike version), it's a breeze to get the rack and the bikes on and off. You can just stick it in your trunk while you're riding:

https://www.rei.com/product/856189/thule-passage-2-bike-trunk-rack

And make sure it locks, I've seen people get their whole assembly stolen with bikes still attached.

If this is something you do regularly, check out whether you can put a hitch mount on the car. Hitch mount racks are seriously more convenient than roof or trunk, and won't damage your car even with 4 bikes. I know hitches are available for the Soul at a reasonable price, so may be for your compact too. A Yakima 4 bike rack can be had under $150, or look on Craigs.

EDIT: plus you can get other hitch accessories like a tailgate to hold coolers and luggage

Looking get out of the city to do some biking with friends in the country. Does anyone recommend or have thoughts on a trunk-mounted type bike rack? For a compact hatchback, maybe hold 2 or 3 bikes. Thanks!