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The first deciding factor is if they're based on one of my favorite animals - this I why I always choose Tepig and am choosing Popplio, I love pigs and sea lions.
Second deciding factor is usually the one who's the perfect mixture of adorable and having personality. I like the starters that are described as having unique personalities that I can imagine going on a journey with, such as how Piplup was conveyed as very sassy in the anime and Cyndaquils as very timid.
When all else fails, fire usually wins.
(My choices are Bulbasaur, Cyndaquil, Torchic, Piplup, Tepig, Fennekin, and Popplio for anyone curious.)