My general 'rule' of lens cleaning is to check the lenses I'm going to take with me on a shoot a day or so ahead of time...or at the last minute before I head out the door. If they look dusty or (shame on me!) fingerprinted, clean them with a rocket blower and/or lens cloth. I also take the body cap off the camera and look at the mirror. If it's dusty, maybe a single rocket blower blast. I've never checked the sensor. As mentioned above, when I start seeing dark spots on the images, I'll check for dust on the sensor and use a rocket blower there.