So this is a reply to my own post....
I cleaned both battery terminals the other day and rode since then with no ill effects at all. I noticed very minimal amount of dirt and corrosion on the terminals - cleaned with a small wire brush and wiped clean and then reinstalled connectors. It is just amazing no matter how small the dirt is around the terminals, it still has a significant effect on the starting ability of the battery. FWIW, this is my 2nd battery and has lasted about 4 years now. The bike has 51K miles to date.