The OP wants to go to Paddington, and IMO the Piccadilly Line on the London Underground from Heathrow is an awkward option for that.
The Heathrow Express is the fastest and simplest way but not the least expensive.
There are other trains, which are not the Heathrow Express, which also run between Heathrow and Paddington. Those trains have been called the Heathrow Connect; they make some stops along the way but unless you're in a huge hot hurry to get to Paddington from LHR they are IMO just fine, and they cost less. IIRC they take more like 30 or 45 minutes instead of under 20 minutes, between LHR and Paddington.
Here's a new wrinkle about what used to be called the Heathrow Connect - those trains, that used to be part of the National Rail network, are now operated by Transport for London. TfL is London's public transport system. They have taken over this line serving Heathrow in preparation for opening of a new line of their service, the Elizabeth Line, sometime in the future. Details here: https://tfl.gov.uk/info-for/media/press-releases/2018/may/tfl-to-operate-heathrow-connect-services-ahead-of-elizabeth-line-opening
What that means is that now you can take the TfL train (formerly known as the Heathrow Connect) to Paddington, using an Oyster card. I don't know if you can buy a paper TfL ticket for it,. Anyway, most arriving tourists will probably get an Oyster card with enough on it to cover the train fare plus their public transport fares while in London. There are TfL staff at Heathrow who can help you with all that.
If you can get your whole family to Paddington for 50 Euro on the Express, that's fine.
For TfL Rail, aka Heathrow Rail, fka Heathrow Connect, you may want to explore the fares per person - here's a link: https://tfl.gov.uk/fares-and-payments/fares/single-fare-finder?intcmp=1660 . Choose "Heathrow Rail" and your arrival terminal number, and the destination as London Paddington Rail Station. The fares are different for children depending on their ages. Adults are at most £10.20 each with an Oyster card, children's fares depend on age, from free to a little over £5. Depending on their ages your kids' fares could bring down your family total to £30 or less.
Edited to add this: The TfL website has a great Journey Planner tool - https://tfl.gov.uk/plan-a-journey/ - but it's displaying an odd tic when it comes to the LHR-Paddington Rail Station trip. It only shows the Heathrow Express (which is NOT a TfL train) in the journey results. And it doesn't show TfL's own train from Heathrow. Yikes! Finally I discovered that you need to click on "Edit Preferences" in the search box area, which will open a screen where you can select, and de-select, methods of transport. I un-checked the box for "National Rail" and made sure the box for "TfL Rail" was checked. Then I ran the search again and the Heathrow Connect (now TfL Rail) trains came up. The results for the time I chose showed a 28 minute journey. Not bad, IMO.
(Here's what I figured out: The TfL Journey Planner defaults to 'fastest method by public transport' which if you include National Rail for that trip, is the Heathrow Express. If you're looking for TfL's own train as an option but you still want the fastest journey with that option, you have to change the preferences to rule out National Rail.)