Depends on the cut. A fillet should barely see the pan, whereas a ribeye has lots of fat that needs to be cooked to lovely chewiness.
Strictly speaking, I like medium, which is supposed to be pink in the middle. But I find I generally have to order medium-rare to actually get that. That's something people just don't understand - medium-rare should still be red and raw in the very middle! If it's pink, then it's medium. Otherwise, what the fuck is the point of the grades medium-well and well-done? Most places end up cooking a medium order like it's well-done, and well-done like I asked for a lump of coal for the fire.