Lithium has a fairly sharp voltage drop off near empty. You should notice it unless your light is really low current. I know my lights get *much* dimmer over the period of a minute or two.
Do as buickid stated or gradually test your voltages. If you're using your light for short periods of time, pull the batteries and check the voltage after each 5 minutes of use. If you want to make short work of it just use the light until perceptible dimming occurs then test the voltages. If you're within acceptable limits then you'll know to run the light until it dims. If you're a little below acceptable limits you'll know not to go as low next time and instead charge the batteries whenever it's reasonable convenient.