It is not recommended that they be completely used before charging. Occasionally it is good to discharge completely since it recalibrates the fuel gauge on high-end devices like laptops but otherwise it doesn't matter (cell phones, cameras, etc).
However, maintaining a full charge (which in most devices is more like a slight overcharge) reduces the lifespan of the battery more quickly. So, if your laptop is plugged in all the time it's best to remove the battery. Heat also reduces Lion/Lipo cell life, so removing it from your hot laptop helps in that way as well.
Lion/Lipo cells lose 10-40% of their total capacity each year whether they have been recharged or not. The best way to maintain their lifespan is to keep them at 40% charge and around 40 degrees (F). For example, when I used my laptop as a desktop for months on end, I kept the battery in the fridge.