I like double-sided SPDs with cycling shoes that have rubber in the arch. You can pedal through an intersection without clipping in, and not worry about slipping off the pedal. I do this on my road and commuter bike.

I also like regular platform pedals with toe-clips. If you want to wear regular shoes, that is the way to go. You can always tighten them on longer road rides. I do this on my treking/grocery bike (when I need to haul more than 30 lbs of stuff.