if I'm working for clients is best to use PDO for database access all the time?
It is hard to even quantify what mysqli offers which PDO doesn't (because it is extremely niche). But it is very easy to quantify what PDO offers over mysqli (multi-database, flexibility, a better object model, etc).
PDO has been around in the PHP world for a while now, it isn't going away. Specific database APIs are dying, and the performance gap which might have once existed has been closed.
I wouldn't start a project in mysqli in 2014.