Given both requirements I'd say you want to call the views. Properly crafted SQL queries will fly.
Going through the API is required if you plan to modify data, but it isnt the fastest approach around because it doesnt allow deep loading of entities. For instance if you want to look at customers and their orders you'll have to load both up individually and then join them manually. Where as a SQL query will already have the data joined.
Nevermind that the TDS stream is a lot more effecient that the SOAP messages being used by the API & webservices.
UPDATE
I should point out in regard to the views and CRM database in general: CRM does not optimize the indexes on the tables or views for custom entities (how could it?). So if you have a truckload entity that you lookup by destination all the time you'll need to add an index for that property. Depending upon your application it could make a huge difference in performance.