Charge when you can, use on battery when you need.
So far in 4yrs 4mths I have 1186 cycles and 88.6% capacity still. Currently showing me as 5:29 remaining on 90% charge. Based on this I would use your battery hard rather than just leave it on charger 24/7...
LiPo batteries do not care one bit how they're treated. They'll either die from too many cycles (which would happen if you constantly and needlessly unplug it each time you're at 100% like you said) or from old age. They'll last 3 to 5 years, 6 if you're lucky and will then need replacing. Period.
No amount of "caring" for your battery will change that.