I would not want to live right in the city. At one point, I thought I would, but if you mean a city like Boston, NYC, etc, no. I can't stand the density of people, noise, etc. There are other cities that are a bit different, that I could maybe live in.
I live in a further out suburb that is considered slightly rural to those who live in the city. I moved here because there are actually 2 "downtown" areas with stores and restaurants, and a commuter train. But, I don't live close enough to walk to any of this, unless it's for a serious 8 mile hike round trip! (it's just under 4 miles). I feel like I have the perfect combination for me, as it feels like I live in the country, yet I am just under 2 miles from a major highway and very close to most things I need (within a 5 mile radius). It's hilly and a great area for cycling and other outdoor activity. We tried to buy a house closer to the shopping area, but it didn't work out. Since I used to live in 2 really more rural suburbs in the area, this feels much closer to Boston (it is by about 10-15 miles) and the fact that there are actually destinations I frequent in my town (coffee shops, restaurants, bakeries, health club) helps.
When we eventually sell this place (5-8 years), we will look for a townhouse/condo within walking distance of preferably West Concord center, as it is a little more down to earth, with lots of artsy type places and it is closer to our former community and friends.