The gravity is more of a disadvantage than an advantage though. It makes it require exponentially more escape velocity than Mars. You can't use a space elevator as, in addition to the normal problems Earth-scale gravity causes, the planet's rotation is much, much too slow.
On Mars, however, unlike Earth or Venus, space elevators maybe a feasible thing.
Bone loss isn't a real issue at Mars gravity, the muscle mass loss can be compensated for. Jello babies aren't as much as a problem as folks like to think. Even in zero-G, small mammals seem to gestate fine, regain even their ability to balance after being returned to normal gravity in short order, and the reduced strength isn't an issue provided you never intend to return to your ancestral homeland. If anything, it just means more calories can be dedicated to the brain.
But if it were a problem, getting on and off Mars is a whole lot easier, so there's nothing stopping you from rigging up a satellites with artificial gravity that a mother would spend the last few months of her pregnancy on and where a newborn would spend perhaps its first few years.
Granted, as others have pointed out, in terms of ease of use, O'Neil cylinders are superior to either planet, and you can mine resources from asteroids. They are, however, engineering nightmares, and probably impossible to make at the scales that the surface of an entire planet gives you. To have a definitive survival advantage, they also have to placed at quite some distance from the Earth. Not that self-sustaining habitable space stations aren't a worthy goal, but they'd probably have to be in addition to, rather than instead of, planetary colonies.
Like so many of these arguments, it's not an either/or situation. Different groups will no doubt focus on different projects as industry expands and improves.