I've found on my bikes over the years, that the seals go south when the bike sits for awhile. With that being said, however, it's not that big of a job to do. Is there a way to keep the fluid from dripping out of the line while the caliper is on the bench?
My mechanic told me its not about waiting till they are stuck. If they go past the maintenance 48,000 mile / 4 years, the pistons will start to push out/in unevenly. The way to tell if that is happening is:
1) uneven brake pad wear
2) when changing pads, push the pistons. If one or more is harder to push in than the others......
3) he said one rotor might be cool and the other warm after a ride, to really check for that ride at a safe place and use back brake only for a bit, hop off the bike and check the front rotors.
He also told me even though I ride the hell out of mine and keep the juices flowing and brake fluid/dust seals in my calipers moist, because I'm so far past 48,000 miles he'll bet his next pay check he can find at least one front piston obviously harder to move than the others.
That being said, I'll be doing my ZX9 calipers because they're toast, and my C14 calipers only because they're overdue =)
edit: I talked with him long after posting this post (as a result of the ZX9 calipers freaking me out) hehe