I vote for the Simpsons, because it was a silly show with absolutely BRILLIANT humor thrown in the mix. And growing up with it, the adults were all like "ban it, it's horrible, that little spikey haired boy said 'eat my shorts'!", but it's really not all that bad. The old eps were more relatable (to most blue-collared families and their daily lives) than shows that were all "perfect"...perfect families, perfect houses, perfect kids with perfect parents and all conflicts are neatly wrapped up in 22 minutes.
I have the same beef with the Simpsons as I do with Family Guy. The older/early episodes were based around a family that argued, fought, and were far from perfect but at the end of the day it was easy to see that the family loved one another. Homer was a dope, but he loved his wife and kids. Peter was a dope, but he loved his wife and kids. Homer became so stupid he should have been put to sleep and Peter became loud, unfunny and abusive. Not funny at all. I don't like the current Simpsons/FG eps made in the last 10 years or so. I think it's gotten really stale.
I LOVE Futurama, and though I was sad to see the series cancelled (twice!), I think they did a good thing by ending it before it got really stale and boring. Futurama is one of those shows I watch over and over and always catch something new. I'd rate it as one of my all time favorites, because it's silly, stupid, fun, funny, yet many of the episodes are touching enough to sometimes bring a tear to your eye.