The only way not to spill oil when you change it, is to have someone else do it!
To spill the least amount of oil, install a remote filter assembly..
Seriously, When changing oil, it should be done when the engine is up to temperature, and has just been shut off - that way the maximum amount of crap is in suspension in the used oil, and you get the most that you possibly can out of the engine.. If you don't come close to burning your hand when you pull the plug, you aren't doing it right!
You can then wait to pull the filter when the engine has cooled down, that's fine, BUT DRAIN THE PAN HOT!!
Letting the engine sit and cool off before the pan is drained lets all the particulate settle out to the bottom of the pan, and then pollute the fresh oil you just put in.
If you don't believe me, next time drain the oil hot, and then pour the waste oil into second container. Observe the amount of crap left behind in the first container.
Then let your waste oil sit a couple days and then pour the oil off again - Observe how much more crap is left behind in the bottom of the bucket.
If there isn't a dramatic difference, you didn't need to change your oil in the first place.