I go by the mileage of the engine or whether there is a known problem - smokey on start up, damage to the guides etc
my z22se had only done 31k and I left the valve guides well alone
I would suggest having them replaced if you were rebuilding a head after a cam chain failure or if the head had done a high mileage - above 75k
but they should last well over 100k on a standard engine these days