It was recommended practice with Ni-Cd batteries that if you did not let them discharge all the way, they would get a "memory" of a shorter life. I think after some time that was debunked, but then it didn't matter as we went to Ni-MH batteries and now Li-O.
I am pretty sure I read that Li-O batteries lose their life if they are left around discharged, usually it reads something like, "Always keep battery charged".
It would appear from this article
http://batteryuniversity.com/learn/article/how_to_...
that leaving it on the charger may not be a good idea either!
(also note 3-5 years is expected life)
Upon further reading it would appear that heat (>30C,86F) is the main detriment to life, and that less than fully charged (>40%) storage is OK.