Most boats that come from the factories (all brands) with 3 batteries: 2 trolling, one starting battery, have 2 bank chargers hooked up to the trolling batteries. The engine's alternator charges the starting battery. The general rule is that, if your boat is big enough to warrant a 24 volt sytem (2 trolling batteries) the engine is going to be big enough to keep the starting battery charged.
e.g. a smaller boat with a 90 hp motor is not going to keep as strong a chrge on a starting battery as a 200 hp motor will. I have a 200 Opti and I have never had to charge my starting battery. Even when I opted for a stronger charger to charge my batteries quicker for overnight tournaments, I bought a 2 bank charger.
In answer to the other question about keeping your batteries on the charger until you're ready to go again, yes, keep them on the charger until you're ready to go. However, monitor your water level and make sure you are keeping the water level up as this is the biggest cause for battery failures.