If it gives you issue, then you know it's time to service them. If you do preventive maintenance, you are really just wasting your money on something that really doesn't cost much to fix if it were to go bad and require all the pieces parts to be replaced. -- IMO of course.
I only had to re-lube one of my very old vintage bikes with loose balls in the headset. And I think I only did that because for some reason I took the fork out.