Think about the primary scenario in which you are significantly thirsty: right after exercising or enduring high temperatures, i.e. right after you’ve been sweating a lot and you’re running low on water for thermoregulation. Now picture your mouth, which is absolutely PACKED with blood vessels (which most mammals including your distant ancestors used to pant to relieve heat).
Cold water cools you down AND hydrates you. Warm water only does the latter. Is it any wonder why you associate the coldness with pleasant feelings, and therefore enjoy the sensation of cold water more than warm water? Even if you aren’t hot, you still remember times you were hot and drank cool water, and so your preference stays.
Also, as a minor secondary effect: warm water evaporates any dissolved volatile compounds more efficiently (so you smell any impurities slightly more strongly) while cold water can make your taste buds momentarily less sensitive (so you taste impurities less).
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