4051 what, the old school CD4000 version? It'll be pretty awful at 5V, yeah (what is it 600 ohms peak, something like that?). Basically it's made with MOSFETs with Vgs(th) around 2V, so, for intermediate voltages (like 2V above VSS and 2V below VDD), it's just barely beginning to turn on. And at 5V say, there's that 1V inbetween where neither N/P is on very much, and that's basically why you get the lumpy Rds(on) vs. Vin curve.
Solution is to use bigger/better FETs with lower threshold; the 74HC version is good for 3-6V so should do quite nicely here.
And, yes indeedy, purpose-made analog switches have very good specs indeed; you can get them in quite low resistances (with nearly enough capacity for actual power switching(!)), just be aware of capacitance, both to GND and thru (off state, between terminals).
Or, if your signal is based on some kind of impedance (as most high frequency analog and digital signals are), then the on/off attenuation may be more meaningful here than Rds(on) and C(off). The on/off ratio can be quite substantial even at high frequencies, for purpose made switches; they may use a 'tee' design internally (two series switches turned off, one shunt switch turned on inbetween them -- shunting crosstalk).
Lots of fine parts with DGxxx prefixes, or ADG from Analog Devices, like that one, yeah (note the supply rating though). Some of them can get fairly pricey, so watch out for that; specialties include wide supply range (30V or more?), low leakage, integrated ESD protection, etc. Common variants include SPST, SPDT, ganged, and SPI (or shift register) interface.
You mention frequency, but not current or impedance, so we can't tell what exactly you need, but at least the low frequency suggests you may not be very concerned with capacitance, so you can opt for quite low resistance if you wish.
Tim