Is there a way to get my TiVo to always record in HD?

There are a number of channels that broadcast in both HD and SD. When I set my TiVo to record a program on one of these channels, I always choose to record on the HD channel.

TiVo also records programs automatically based on my ratings (TiVo Suggestions). Is there a preference I can set so that TiVo will always record on the HD channel when there is an option to do so?