I 'attach' my feet by using diagonal PowerGrip straps, not clipless systems. I LOVE them, and never get stuck in them and never have to worry about my feet slipping off pedal. I keep them adjusted fairly snug.
My husband has regular shoes with stiffish soles and he uses toeclips (cages) on all his bikes and really likes them. He keeps his adjusted so he can get his feet in and out without unbuckling the strap.
Everyone is different, there is no 'right' or 'wrong' that fits everyone's situation.