Turning it on and off makes the circuits expand and contract with the heating/cooling cycles. It's not much, but it adds up over the years.
Leaving it on makes the bearings in spinning components (i.e., hard drives and fans) wear out that much faster. Also, in my experience, leaving two desktops and a laptop running full-time with a DC client makes the electric bill too expensive.
So in my opinion, unless you have marathon-ready hard drives and no cooling fans, it's best to turn it off when you're not going to be using it. Whatever components lose a year of life as a result of cyclical heating/cooling will be replaced long before they die anyway.