Goku and Vegeta use ki for everything. Without it, neither one is really that skilled. Even back in the early part of Dragonball, the focus was always on being stronger and faster than your opponent, rather than precision or style. Meanwhile Bat and Cap are tacticians of the highest order, and both used to dealing with stronger, faster opponents (Goku and Vegeta are not, in this scenario, stronger or faster.) I agree with Sirmethos.
Now, using Ki, Goku is the absolute master. As a child, he duplicated the Kamehameha after watching it only once. He masters new techniques like the Kaioken and Instant Transmission, which usually take a lifetime to learn, in a few months. He was naturally able to sense ki, something both Vegeta and Frieza, who were far more powerful at the time, couldn't do. He's been shown to learn and use techniques created by others quite a bit more than any other character.
Vegeta's a fast learner, who has an "Anything you can do..." attitude, but I don't think he's as skilled with Ki as Goku. He's far more serious/relentless though.
Like I said, though. Without Ki, Goku and Vegeta are no match for Bat & Cap.
"A skill is the learned capacity to carry out pre-determined results often with the minimum outlay of time, energy, or both. Skills can often be divided into domain-general and domain-specific skills."
Style has nothing to do with skills. Saying that Goku is really not skilled is like saying that Batman isn't eaither. Both train all day, both do the same thing, yet just because Goku has ki, means he is just stronger or faster?
Then Thor has no skills, Darkseid has no skills, Iron-Fist has no skills, Karate Kid has no skills,
or anyone else that trains to fight has no skills. Throwing a fancy kick does not determine skills or else Van Damne would be the most skilled. Goku being stronger and faster means that he is better physically then these guys. But when Goku faces more powerful or equally skilled people his skills come into play