I have my brake fluid changed at the 30k, 60k, 90k, and 120k service intervals.
Even if your Owner's Manual does not specify it, I would suggest that you follow this type of schedule.
In addition to preventing damage to the ABS pump, calipers and master cylinder, changing your brake fluid on this type of schedule will help to prevent loss of braking ability when the brakes get very hot, as on a long downgrade.
Incidentally, DO NOT allow a quick lube place to do this work, or any other maintenance on your car. The probability of them screwing up the procedure is very high and they rarely stand behind the quality of their work.