Critical fasteners need to be checked in the manner and at the intervals specified in the service manual.
Everything else can be spot checked when you're cleaning the bike. You're pretty much running a sponge or cloth over every inch of the bike anyway so just grab and twist to be sure nothing has come grossly loose.
Of course, if you don't wash your bike, you'll have to make it a point to do a total bike inspection once a month or so.