Yes, you should get quotes from shops. Preferably AAA rated ones, but smaller shops can give you lower prices (but may not be as good a quality). So use references.
Clear coat is an extra layer of clear paint that protects the bottom layer and gives it a deeper luster.
Peel warranty - when the paint is not properly mixed or preped, spots can peel off. On plastic bumpers they need to soften the paint so it will flex with the plastic. Otherwise the paint cracks and peel off. I don't know what they term it exactly, but you know what I mean. :)
The foam is to keep the plastic bumper in shape ONLY. I don't think anyone in the right mind is going to think it'll offer much of a protection. You should have a flimsy looking metal bumper that protects up to IIRC 2.5MPH behind the foam. Yeah, I know, they don't build them like they used to.