Lendl is 13-14 against Edberg, including 4-5 at slams. He's also 2-6 against Borg, but given that they didn't play after 1981, I wouldn't call him a main rival.
Borg was 7-7 against McEnroe but only 1-3 against him at slams.
Sampras is probably the best example I can think of although he has a few notable negative head to heads, including against Hewitt (4-5), Safin (3-4), Stich (4-5) and Krajicek (4-6).
It's actually very difficult to have a dominant head to head against all of your main rivals, largely because younger ATGs will usually come onto the scene and start winning (Connors-Lendl being an excellent example). Sampras had the advantage of no younger ATGs coming on to the scene until after he'd gone, and he was too good for Agassi. That being said, he came onto a field with ludicrous strength, including Edberg, Becker and Lendl all playing well.
Djokovic is perhaps a similar example, coming into an even tougher field but also having no younger ATGs to surpass him