No George, just charge and go...with a couple of caveats...
1. If you discharge the pack to 2 bars or less, then it's best to charge to about 3 bars for storage. If you're going to ride the next day you charge it all the way up again. You just don't want to store them in a fully discharged state. Once you get the hang of your range verses charge state you'll be able to decide if you need to charge or not for a short trek, or multi-day short rides. Say you want to ride to the store and back 4 miles and you have 3 bars, there's no need to charge - just go. It does take some thought and pre-planning, but doesn't have to be complicated. 40 miles seems to be really quite easy with these, and if you use a lower assist setting and ride slower you can stretch it out much further. Kind of like the fuel tank in your car - full charge is full range, etc.
2. Don't charge to 100% if you're not going to ride them - they should not be stored at full charge. Ideally, 50-60%. Some of the better chargers, like for the Trance, is faster (6ah) and has a 60% setting that does a quick charge then shuts off. The basic 3-4a charger doesn't have these options.
3. Heat is their enemy - if it's hot in your garage or storage area, bring the packs inside. Same for freezing, they'll get pretty lethargic. Li-ion packs really like moderate temps, like 50-80.
There have been some studies that show more charge cycles to reach a degraded capacity if you only charge to 80%. There are several issues with this however, first is that our chargers don't have a way to automatically do this, so it leaves you guessing. Worse, individual cells don't reach equilibrium so done repeatedly can leave too many of them way off from the others and that's a big problem. And then there's the simple fact that it takes hundreds and hundreds of cycles to reach a degraded state, like you might see a five or ten percent difference from charging to 100% over four or five hundred cycles. For the average user that charges their bike once a week or so, it could take a decade or more.
Too many way over-think this. And really, for a person that uses theirs like a car, like daily commuting, are in a different league and have a more complex approach to battery maintenance. For us mere mortals it's a simple charge and go routine, for many years of enjoyable entertainment.