The notion of polynomial time reductions (Cook reductions) is an abstraction of a very intuitive concept: efficiently solving a problem by using an algorithm for a different problem.
However, in the theory of $\mathcal{NP}$-completeness, the notion of $\mathcal{NP}$-hardness is captured via mapping reductions (Karp reductions). This concept of "restricted" reductions is much-less intuitive (at least to me). It even seems a bit contrived, as it creates a somewhat less intuitive notion of hardness; by that I'm referring to the fact that $\mathcal{NP}$ does not trivially contains $co-\mathcal{NP}$. Although in complexity theory we are very used to the concept that being able to solve a problem such as $\mathsf{SAT}$ does not imply that we can solve $\overline{\mathsf{SAT}}$, in natural settings (which are captured by Cook reductions), assuming we have an algorithm for solving $\mathsf{SAT}$, we can solve $\overline{\mathsf{SAT}}$ just by running the algorithm for $\mathsf{SAT}$ and returning the opposite.
My question is why should we use Karp reductions for the theory of $\mathcal{NP}$-completeness? What intuitive notion does it capture? How does it relates to the way we understand "hardness of computation" in the real world?