This has been repeated many times...
There is no right answer. You've got two main issues to deal with. Tubes eventually wear out. The biggest stressor on the tubes is the power/on cycle.
If you leave the amp on constantly, the tubes will wear, but slowly. The amp will also be ready to play. If you only turn the amp on when you want to use it, you'll have to wait for it to warm up...and you'll be putting the tubes through many more power cycles. Sooner or later, you will replace the tubes.
My own compromise is to turn on tube amps that I plan to listen to when I get home from work. I then leave them on, and turn them off when I'm done listening for the night. One power cycle daily, and they're only on when I'm planning to use them. Other people may have different strategies that are equally valid, or better.
Exception: If changing headphones, turn the amp off, unless the manufacturer has specifically said that the amp is safe to run without a load. It doesn't matter how many extra power cycles you have to go through. (In the case of the RKV, you can simply plug a headphone into the second jack before removing the headphone from the first jack, to insure that there is always a load on the amp.) If you leave a tube amp running without a load, you will damage it (unless is has specifically been designed to operate that way)