AKIRA TORIYAMA INTERVIEWS :
Incidentally, who is your favorite character?
Yeah, I guess I like Piccolo the most after all. Out of all the enemies, Piccolo Daimaō is the one I like most, and even after that I like Piccolo the most. I like Piccolo about the same as I like Goku. With Vegeta, well, I don’t like him all that much, but he was extremely helpful to have around. For the recent stuff, it was fun drawing Satan. When I first brought him out, I didn’t think that I would end up making Satan that important of a character. I thought he’d just be a one-shot character.
Satan is like that, but thinking up worthless gags is more enjoyable than doing the fight scenes. (laughs)
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sources : DAIZENSHUU GUIDE