YUI Compressor was the consensus best tool for minimizing, but Closure seems like it could be better.
"Whichever you find best for you" I think is the general answer at the moment - YUI has been available longer so undoubtedly will be the one which currently has the consensus as being the best tool. Whereas Closure is new to us - so there isn't the wealth of experience with Closure as there is with YUI. Hence I don't think you'd find a compelling real-world arguments of why to use Closure based on people's experiences with it simply because it's new.
That's not to say you shouldn't use Closure....just my round about way of saying, I don't think there's an answer available to this until a number of people have used the 2 and compared them.
Edit:
There are a couple of early comparisons, saying Closure does give an improvement:
http://blog.feedly.com/2009/11/06/google-closure-vs-yui-min/
http://news.ycombinator.com/item?id=924426
Further Edit: Worth keeping an eye on issue list for Closure: http://code.google.com/p/closure-compiler/issues/list