Absolutely I do - immediately after every ride. Sometimes it only takes a few minutes, other times a deeper cleaning might be needed. Cleaning the bike after every ride ensures you have hands and eyes on the details of your bike between your last ride (which was safely concluded with all the parts you left with) and the next one (from which you'll obviously expect the same). In other words, one can discover problems before they become problems (loose bits, tire cuts that may require attention, cracks, etc). It's like preventive maintenance - and how much time does it take, really, to clean a bike?
Plus, a clean bike rides better and faster. It's true
DD