yes, do either two of those. Don't just idle them: carbon build up, condensation, etc etc.
If you choose to run them, idle for about 15 seconds and then drive while keeping your foot light on the gas and low on the revs until the engine warms up. Drive it around for a good 15 minutes. I don't really know how often this should be done, so I won't try to guess.
If you leave them there, take all of the normal precautions that people take when winterizing a vehicle, and next year do it before winter actually hits
