This is more accurate information direct from Apple:
That info is of course correct, but it's about charge cycles. There are more aspects to it than that. Apple also themselves state that if you want to store the battery for longer periods of time, you should keep it at 50% in a semi-cold environment. This is because, as I said, the battery cells can benefit from getting some exercise. All the cells will be exercised no matter if you do one full 100% run, or two 50% runs because of how the battery controller works, and the two 50% runs are better, since Li-Ion batteries don't like being fully discharged, but Apple has a mechanism in place that makes sure the Li-Ion battery never truly is fully discharged as well. Hence that when your computer shuts down, if you try and power it on, it'll show the "no-battery symbol", which it obviously needs power to show.
So yeah, charge it whenever you want. My point from before was just that I don't have any worries about battery health when I use up 80-95% of my battery, because the battery is designed to be used, and my current health (maximum capacity) also proves that it works just well