I have been using Intel PCs and Windows Operating systems since DOS 6 and Windows 3.1 and I have never had to use a registry cleaner (which came into play with Windows 95).
As long as you're using professional level software (not something questionably coded) there are going to be only a handful of rare instances where you might need to "clean" the registry of remaining applications.
For the most part, if these registry entries are still there they will most likely not interfere with the regular function of the operating system.
If you do have one of those occurrences then you may need to do this but it is not something I would recommend that you do regularly as there is often little need.
So if there is an issue - then do it, otherwise there is no need.
Things that I do regularly recommend are defraging your hard drive, updating your anti-virus software and installing Windows security updates as they are released (second Tuesday of each month).