The whole system ideally would have at least 10 pounds of lift on full power.
Sounds like you mean "ability to carry ten pounds of cargo". For thrust you would take the "all up weight" (drone, batteries, and cargo) and multiply by 2 to get reasonable maneuverability. For that kind of total thrust you will probably want six or eight motors.
I am looking to create a semi-autonomous drone, and I am curious as to what I should use for motors.
Motors are rated in "KV" which is not kilovolts but "thousands of RPM per volt". You want to keep the propellor tips well below the speed of sound so smaller propellors use faster motors. For example 900KV motors are good for 10" propellors and 2000KV motors are good for 3" propellors. Motors are also designed for a maximum voltage. This is typically designated by how many 3.7V LiPo cells you can put in series: 1S, 2S, 3S up to abut 8S (29.6V). The higher the voltage the more current you can cram through the motor but If you use too high a voltage your motors are likely to overheat and die.
Where should I get propellers as well?
Get everything from eBay.com, Amazon.com, or Banggood.com.
You can check the specs of various commercial drones to see what combinations of battery, motor, and propellor they use.