OP do you have a smart charger? If so, most of them have a charge/discharge cycle feature where it will automatically charge, then discharge, and then charge your battery again. If your batteries see infrequent use, then it is recommended that you do this once in a while to prevent the slow discharge from lowering your overall capacity.
But like xavier said, Lipos never need to be discharged, if they start holding less and less, then you should just get a new one.