You want to commit to one and put a 301 on the other. Googlebot should be smart enough, but it isn't really. Some things aren't best to be left to chance.
Here's the Moz 301 redirect article: http://moz.com/learn/seo/redirection
Edit: Here's another article about www.mysite.com vs mysite.com http://www.stepforth.com/resources/web-marketing-knowledgebase/non-www-redirect/#.UlbGl1Cko2s