Favour happens when both candidate qualifies. A and B are options and you favour A. The reason is that composition offers more extension/flexiblity possiblities than generalization. This extension/flexiblity refers mostly to runtime/dynamic flexibility.
The benefit is not immediately visible. To see the benefit you need to wait for the next unexpected change request. So in most cases those sticked to generlalization fails when compared to those who embraced composition(except one obvious case mentioned later). Hence the rule. From a learning point of view if you can implement a dependency injection successfully then you should know which one to favour and when. The rule helps you in making a decision as well; if you are not sure then select composition.
Summary: Composition :The coupling is reduced by just having some smaller things you plug into something bigger, and the bigger object just calls the smaller object back. Generlization: From an API point of view defining that a method can be overridden is a stronger commitment than defining that a method can be called. (very few occassions when Generalization wins). And never forget that with composition you are using inheritance too, from a interface instead of a big class
