Is it better practice to use query_posts, WP_Query, or get_posts to create various custom loops within a Page?

Right now, I’m using get_posts to retrieve cusstom posts types with a custom taxonomy assigned to it in order to generate static content like this:

<?php
/**
 * Template Name: Front Page
 * @package WordPress
 * @subpackage Prominent
 * @since Prominent 1.0
 */
get_header(); ?>
<div class="shadow-top">
    <!-- Shadow at the top of the slider -->
</div>
<div id="intro">
    <div class="container">
        <div id="slider-wrapper">
            <div id="slider">
            <?php // Create custom loop ?>
            <?php $custom_posts = get_posts('post_type=page_content&page_sections=Slider (Front Page)'); ?>
            <?php foreach( $custom_posts as $post ) : setup_postdata( $post ); ?>
                <p><?php the_content(); ?></p>
            <?php endforeach; ?>
            <?php wp_reset_query(); ?>
            </div>
            <div class="shadow-slider">
                <!-- Shadow at the bottom of the slider -->
            </div>
        </div><!-- #slider-wrapper -->
    </div><!-- .container -->
</div><!-- #featured -->
<div class="shadow-bottom">
    <!-- Shadow at the bottom of the slider -->
</div>
<div id="tagline">
    <div class="container">
        <?php
        $page_id = $post->ID; // 123 should be replaced with a specific Page's id from your site, which you can find by mousing over the link to edit that Page on the Manage Pages admin page. The id will be embedded in the query string of the URL, e.g. page.php?action=edit&post=123.
        $page_data = get_page( $page_id ); // You must pass in a variable to the get_page function. If you pass in a value (e.g. get_page ( 123 ); ), WordPress will generate an error.

        $content = apply_filters('the_content', $page_data->post_content); // Get Content and retain WordPress filters such as paragraph tags. Origin from: http://wordpress.org/support/topic/get_pagepost-and-no-paragraphs-problem
        $title = $page_data->post_title; // Get title
        ?>
        <div class="content0">
            <h2><?php echo $content; // Output Content ?></h2>
        </div>
    </div><!-- .container -->
</div><!-- #content-bottom -->
<div id="content">
    <div class="container">
        <div class="mainbar">
            <?php // Create custom loop
            $custom_posts = get_posts('post_type=page_content&page_sections=Content (Front Page)'); ?>
            <?php foreach( $custom_posts as $post ) : setup_postdata( $post ); ?>
                <div class="content-block">
                    <h2><?php the_title(); ?></h2>
                    <p><?php the_content(); ?></p>
                </div><!-- .content-block -->
            <?php endforeach; ?>
            <?php wp_reset_query(); ?>
        </div><!-- #mainbar -->
    </div><!-- .container -->
</div><!-- #content-bottom -->
<?php get_footer(); ?>

What is better practice in this case?

To use query_posts, WP_Query, or get_posts?