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They seem like similar characters but I'd say Mike.
I think he delivered his lines a little better.

Joel had better writing, plus he gave his performance like "really, this s**t again." expression.

Mike.  This probably has something to due with the fact that he was the host when I was finally able to watch the show with some regularity.  But even after seeing plenty of Joel episodes by now, I still think Mike had better delivery of the lines.

Totally subjective, but that's fair.

Joel. More the bots 'dad' (He did make them, after all) Mike was more a 'fellow frat brother' per the relationship with the bots.
Pearl was not my fave. I actually liked Brain guy and Bobo better as characters, RE: the Sci-Fi years.
Best mads?...why, Dr. F and TV's Frank natch.

Mike.  He was less likely to just throw weird sayings out there that kind of fell flat.  Joel was certainly funny but he himself seems like a bit of a strange guy.  Mike seemed to have a bit better sense of what the fans would find funny.

I prefer Mike.  Joel always seemed bland and bored with everything.  Mike brought more personality to the show.