The best way to avoid thinking of cardio as misery is to find a way to have fun with it. Use landmarks on your outdoor run. Sprint to a telephone pole or a certain bench in your local park. Use music to motivate you through it.
Take a friend with you! Race! It is much more difficult to give up if you have someone with you. You won't want to let them down, you'll compete against each other, and you can get more from your cardio day.