I use Shimano dual-sided SPD clipless pedals and love them. I've tried others, but these are the best for me. Because I do a lot of city riding (stopping at lights and releasing quickly for any number of reasons), these have been the easiest to use. I also wear MTB shoes (recessed) instead of road shoes. The MTB shoes have better traction on the bottom, usually in the form of a rubber sole, that allows me to grab the pedal and start moving even if I'm not clipped in. This is especially important if you have to get moving quickly.