I agree Forker. Landing alive is what should give you a succesful landing. Who cares grass or concrete . Get the emergency crash crew to tow the heap to the tarmac if it's that important
I am alive and in one peace in my mind that is succesful 
I believe the higher ups have said that forcing you to be on concrete to get a "you have landed successfully" is to put a bit of challenge into the process. It feels pretty good when you can limp a severely damaged aircraft home and manage to keep her on the runway.
One of my more memorable flights was limping a -4 with no elevators away from the enemy, over a mountain, and down to the field for a successful landing (I had to use a lot of flaps and throttle to get her to do what I wanted). If I could just land anywhere close, it wouldn't be the same.
Of course you don't need the landed message to consider it a success in your own mind, and that is, after all, what matters.
