You don't have to worry about memory and conditioning like you did with your old NiCad cells. NiMHs and Lithium Ions have completely different chemistries that don't have those types of old problems. With these, it's best to keep them charged up, and discharging is not only unnecessary, it can damage the batteries, or worse. Overdischarge on a NiMH or li-ion will reduce capacity/voltage permanently, meaning it can ruin your battery. With a li-ion, overdischarge can cause the battery to get excessivly hot, or even spout flames and explode. That's with unprotected cells. If you're using unprotected cells, once light starts to dim significantly, it's time to pull them. If you got your cells with your Fire~Fly III from DSpeck, you've got protected cells. These have circuitry built in that prevents these potential catastrophic failures caused by overdischarge, reverse polarity, or putting it in the charger backwards. It simply turns the battery off.
Unless you're using your light very often (enough to nearly or fully drain the battery), recharging it every few to several days is fine. Whenever's convenient. That's what I like so much about rechargables; with primaries, I'm always unsure of the state of discharge. I don't time my useage with a stop watch each time I turn it on, so after a a while, I've got no idea how much juice is left. With a rechargable, all I have to do is swap the old one for a fresh one and I'm good.