Names are a difficult thing in that everyone will have their own interpretation, and nobody can really declare a winner unless the person who thought up the name actually speaks it. However, in this case, I think it's pretty clear cut. Zelda is a Japanese game, therefore, Saria would be pronounced in Japanese fashion.
Sah (like the first part of salad), Ree (Like Rio De Janero), Ah (as in apple).
Sah Ree Ah.
Malon is more difficult, in that it's an English name, rather than a Japanese one. I would do it like this though:
Mah (like saying march), Lon (either loan, or talon... take your pick. I am more inclined to pronounce it like talon).