Yes, battery's last longest when they are regularly fully cycled from full
charge to fully discharged.
Li-Ion batteries don't have to be *regularly* cycled to extend their
life. In fact Li-ions generally don't like being cycled. However after
a while the integrated meter may drift, and to re-calibrate it
requires running the battery down completely (beyond the point that
Windows goes into Standby, and to the point that the low voltage
protection in the hardware kicks in). To do this my laptop's manual
recommends running the machine in safe mode and letting it run till it
powers off. To avoid ungraceful shutdowns (even in safe mode) I use
the machine as per normal, wait until it's about to send the machine
into standby, and reboot and go into the BIOS setup, then just sit
there until the machine powers off.
This is only really a concern if you care about the accuracy of the
meter. If you don't care, you don't have to worry. If in the future
you need to run on battery a lot, then run the battery down once to
recalibrate at that point in time. Once is all a recalibration takes.