Don't worry about it and just use your MacBook Pros for what you bought them for.
Physics. No matter what you do, you can't change the laws of physics and lithium batteries are governed by age and the number of charge cycles. A complete discharge and recharge is one cycle. A 20% discharge 5 times over is one cycle, a 5% discharge 20 types is also one cycle.
Whether that cycle takes a half day, a full day or a week all depends on how you use it; but I am guessing you didn't buy a MBP to sit on a shelf all day long doing nothing.
Even when you keep your MBP plugged in, you are reducing the per day cycle count; however you are not eliminating it. But the bigger question is, did you buy a MBP to sit at a desk all day? If so, you should have bought an iMac instead - there's no battery so you eliminate this problem altogether.
That said, there are things you can avoid that will shorten the life of your battery and those things include:
Extreme temperatures - high heat and freezing temps can kill a battery prematurely.
Drops and physical stress can damage the battery shortening its life
Not using the right charger can harm your battery. Always use a GENUINE power adapter, not some discount charger you find on eBay.
When they do die, it's always best to get a good quality replacement battery from a reputable manufacturer. The 2006 MBP uses an external battery so it's fairly easy to find replacements - and some even come with generous warranties.
The 2013 MBP Retina (and newer) batteries require the back cover to be removed, but are actually pretty easy to replace even though they may be glued to the top cover. You can find many good replacements now on the aftermarket, with generous warranties as well.
When you get down to it, the battery prices are not that all off putting.
The bottom line is that your batteries have a life span that's governed by age and use and there is nothing you can do short of not using your MacBook to change that. That, however kind of defeats the purpose of having the MacBook in the first place.