In a perfect world, it shouldn't be required--but the fact is, even Hondas break in unexpected ways. So instead of paying Jiffy Lube $30 to change my oil, I pay the dealer $30 to change my oil. While my mechanic (one guy, and only one, same guy every time) is under there, he eyeballs things with his professional eye and sometimes catches things that need attention. Or I ask him about something, and he gives his judgment on whether it needs attention or not.
So when the unexpected does occur, I run it past him--"should that have happened?"--and if it's a big NO, I just ask the service manager for consideration. 95% of the time, it's no big deal--sure they'll pay for it under warranty.