If the light doesn’t have low-voltage-protection (and even if it does…) you should recharge the battery as soon as the light will no longer go into high modes, or if you notice it dimming. Or sooner. It doesn’t hurt a lithium-ion battery to top it up, even if it still has plenty of charge left. I usually recharge mine well before they’re even half-drained. I want a light with a full charge, so it’s good to go when I want to use it.