I bleed mine every spring regardless of mileage. Nothing sucks worse than having a wheel cylinder jam while away from the garage - which can happen if enough gunk sits in it too long.
The Dot 3 will become brown within a couple months and doesn't really affect performance of the brakes.
I have noticed that when the weather first hits around 75 in the spring after I've refreshed my brake fluid, then I get on the bike and experience what you describe. I think that teeny tiny amounts of air that may be trapped within your fluid (missed the original bleeding) can travel upwards and accummulate near the main reservior as the outside temp climbs. To rid the system of this bubble, I've found it best to 'crack' the banjo bolt loose from the reservior and let it out there. Then gently and slowly apply pressure on and off the lever while observing the innards of the master. Any minute amounts of air will work their way backwards and up/out from inside. This should return the 'full pull' feeling in your clutch lever.
There's nothing much more frustrating than jumping on the Max for a ride, only to find out you can't clutch it to get it into gear...
LOL