Heating, ventilation, and air conditioning (HVAC) systems have been shown to act as a collection source for a variety of contaminants that have the potential to affect health, such as mold, fungi, bacteria, and very small particles of dust. The removal of such contaminants from the HVAC system and home should be considered as one component in an overall plan to improve indoor air quality.
Duct cleaning is a band aid, like washing you hands is. Under your description, why wash your hands more than once? If it gets cleaned once, it shouldn't get dirty again. Well that is, unless they touch something dirty. Keeping your hands completely clean is virtually impossible. Same as keeping dust out of your home. You clean your ducts and over a 3-5 year span they get dirty again. Also, duct cleaners are not licensed but should be certified by NADCA(National Air Duct Cleaning Association).
NADCA and EPA both have good points. Although, organizations are made to make money. Common sense and looking at NADCA and EPA pre-checklist. If you don't see it in the check list, you don't have to do it! But, if you do, look up Diamond certified co.s and the BBB. Beware of bait and switch scams, $60 vents and the like coupons which claim to help all for the measley sum of $79.00 bucks.