We play short sessions (in a weeknight game with everybody having things to do bright and early the next morning), so enjoying cliffhangers or not is less important than utilizing our game time to the fullest. When we hit a cliffhanger, it's because we're out of time and can't reasonably tackle what's coming up next without making spouses very angry at some of our players.
That said,
Cliffhangers on a setback/defeat isn't much of a cliffhanger -- "you know that great red wyrm you saw at the end of last game? Yeah, it comes and eats you."
Cliffhangers on success aren't necessarily that great either -- "and we're going to stop here before you can complete this task and thus get a minor sense of accomplishment out of this game because you all enjoy cliffhangers, right?"
Ending a session needs to be done at a good point in the game. Maybe it's a cliffhanger, maybe it's not. How much people enjoy that kind of thing has very little to do with, oh say, "The DM has fallen asleep and cannot continue."