I don't find lifelike robots too creepy. A human head on an ASIMO body - yeah, that's freaking odd. Why are they doing that?
If it's ASIMO, give it an ASIMO head.
As for social robots - eh, just another computer toy. As long as they can't repair or defend themselves, I'm not worried about them. To me, a computer that looks like a computer but can anticipate, troubleshoot, and fix itself is far scarier....much like a dog that is large enough to kill me if it wants to.