Pots and pans should be put in a location that makes sense: near the stove (or cooktop). I prefer roll-out shelves as opposed to drawers for pots and pans, and if you can have a dedicated lid drawer, even better. The reason I like roll-outs is that they're shallower: I can see what I need, as opposed to drawers where I often have to pull out the pots on top to get to the one on the bottom.
If you have a cooktop, underneath is ideal. To the side is fine when you have a range, and if you don't have room for a large cabinet to the side of your stove (27"-30" wide minimum), the island right near the stove is fine, too. If you don't have an island put them in a cabinet perpendicular to you, or a pivot away in a peninsula.
