Hi emoreira,
A good starting place is learning to inspect your own regulators. This thread has some terrific advice and tips:
http://www.scubaboard.com/forums/regulators/346813-regulator-inspection-checklist-rev-7-a.html
Just some general comments on regulator service frequency, since I had to think through the same issues that you are currently considering as I began servicing my own regulators:
1.) Regulators will generally wear out or "malfunction" gracefully. You'll notice a reduction in breathing performance, the 2nd stage may begin to "hiss" a bit when you turn on the air, you'll notice some slight bubbling from various o-rings, etc. It is very rare for a regulator to "just stop working"; they are designed as "downstream" valves, which are trying to "hold back" the high pressure air in your scuba tank, and as the seats and o-rings begin to wear out,
too much air will pass, not too little.
2.) Regular inspection and testing (see the link above) will give you plenty of warning that service is needed.... much
more warning than if you
only have your regulator inspected and tested during the annual service.
3.) Some regs may indeed be ready for service at the end of just one year, and in some cases, even
sooner. It depends on factors such as number of dives, how well the regulator was cared for by the diver, proper storage, the dive envioronment, and maybe just a bit of "luck".
What I have been doing with my family's regulators (currently 8 sets) is to test and inspect frequently, and service as soon as I detect a change in performance. Using an IP gauge is probably the single most important tool to determine the "health" of your reg (second only to a careful visual inspection before and after each dive trip).
Best wishes.