Question: What is the difference between rsyslogd and syslogd?
Answer: The short answer is rsyslogd is an extension to syslogd. From rsyslogd man pages - rsyslogd is reliable and extended syslogd.
rsyslogd uses enhanced configuration file than syslogd. You should continue with rsyslogd.
For long answer, read this -
http://askubuntu.com/questions/55435/difference-between-rsyslogd-and-syslogd