Global Cooling vs Global Warming

OK, I accept global warming as a fact, but...given that the earth has undergone many warming and cooling cycles- the last ice age ended 10,000 yrs ago- and will probably continue to change in temperature, isn't global warming more desirable than global cooling? We can grow more food and people will be in less discomfort than the alternative of cooling? The earth does not remain a constant temperature, no matter how much we'd like it to.