On the sensitivity side, for car door speakers, higher sensitivity is generally better, regardless of impedance, because you will get more output per watt of input. For subwoofers, a lower sensitivity is actually better than higher IF you are trying to cram the sub into a significantly smaller box than optimal- a lower sensitivity sub will actually play deeper and louder in a given tiny box than a high sensitivity sub. Once you reach the optimum size box, the higher sensitivity takes over as you would expect.
Impedance, as others have stated, needs to be picked based on what your amplifier is rated for. That being said, if you are looking at Polk, JBL, or Infinity, they have designed most of their speakers at 2.8 ohms based on the average car's additional wiring resistance to present a "true" 4 ohm load to the amplifier. If you're using the factory wiring behind the radio, you should be fine. If you are rewiring the car from the amp to the speakers with 12ga copper wiring, you should make sure your amp can handle it because the reduced resistance of larger wire will present a load much closer to the rated 2.8 ohms.