Just as in road building, the subbase is what holds the weight. If you have excess moisture in the subbase you can cause soft spots which will cause the slab to crack excessively.
I would make sure there is a deep layer of coarse gravel under the slab and make sure the area under the slab drains. Beyond that 4" of high strength concrete with adequate rebar will be more than enough to hold a "parked" truck. If you are planning on doing any heavy repair work on the slab including jacking and possibly "dropping" things onto the slab, the extra 2" of thickness might be desirable.
As was mentioned above, ask your contractor for his recommendations. If you can afford it, go with the 6" slab. Don't scrimp on rebar, especially at the entrance and/or exit.
As I mentioned, make sure proper subbase preparation is done, or else you will be doing it over again.
Just my two cents worth
RL