For securing/hardening ssh, I have found the recommendations available on at CIS to be helpful. While, I think they are selling tools and services, their benchmarks are free, specific, and rather helpful. The benchmarks are PDF reports that can be downloaded in exchange for your name, email, and a couple questions about who you are. I especially liked how they gave specific reasons for their recommendations, and references for more information. With respect to ssh specifically, and with respect to what crypto algorithms are safest, I found the CIS benchmark for Distribution Independent Linux to be particularly relevant.
With regard to using the ~/.ssh/config file to secure your server, this is not going to help. The ~/.ssh/config file sets preferences for how you (a specific user on your ssh client machine) will connect to any given server. So if you specify a short list of strong ciphers that may be used in your ~/.ssh/config, you are just telling ssh that when you log into a server, you will only accept the use of those specific ciphers. If those ciphers are not available, forget it! do not even connect to that server. The ~/.ssh/config file does not instruct your Ubuntu Server which ciphers to accept or not. The same goes for MACs, KexAlgorithms, HostKeyAlgorithms, etc. To configure your server, you want to take a look at the /etc/ssh/sshd_config file.
Finnally, if you are running an up to date version of your operating system, and you have an up to date installation of ssh and its configuration files, the defaults are fairly reasonable. I believe the ssh authors and maintainers, especially the openSSH authors and maintainer, know what they are doing, and they are specifically trying to provide tools that will allow you to safely, securely, and privately connect to your server using ssh. Having my own server publicly accessible on the internet, I too go through and check the options carefully. That said, as long as your server is running up to date software and using up to date configurations, and the only access to your server is through ssh, I believe you will be reasonably secure by just keeping everything up to date.