there's not definite line where you need to replace them, i'd wait until you're ready to do a full top end rebuild and replace everything at once while you have it apart. My warrior did the same thing, much more in cold weather, and it never hurt anything, I replaced the seals when I bored it and put the wiseco in it and it stopped the smoking.
My dual sport does the same, smokes a little when it's started. I'll never replace the seals unless it gets really bad or I decide to rebuild it. It doesn't bother me and it's not hurting anything so to me it's not worth the cost and the work to fix it.
****, my 93 Sonoma with the 4.3 in it blew a massive cloud of smoke when it was started and then immediately stopped smoking because of worn valve seals, I actually kinda liked it, it gave the truck character.