concrete or asphalt?

I'm a pretty new runner as of last fall. During the fall and early winter months I ran on the concrete sidewalks. They are obviously safer than the asphalt roadways with the car traffic of the neighborhood streets.

However, after a freezing rain in the late winter months here in Minnesota, the sidewalks became too unsafe to run on, so I moved to the streets for the remainder of the winter. The past couple of weeks the sidewalks finally cleared up again and I was able to run on those. My knees quickly let me know that they preferred the asphalt of the streets.

Which do you prefer to run on? The sidewalk is obviously safer, but my knees and body definitely like the streets better. Such decisions....