Hi Mauro,
If performance is your concern, then using Meta Box helper functions or get_post_meta is totally fine. WordPress will query all post meta only once, cache them and don't make extra queries if you call get_post_meta multiple times.
In case you want a single function that returns all meta value, WordPress has get_post_custom() function:
https://codex.wordpress.org/Function_Reference/get_post_custom
Just a note that it returns the raw values stored in the post meta, the same as get_post_meta.