Psfred is right in saying caliper service is rarely addressed in manuals. They take quite a beating from the environment. There's no prescribed schedule for caliper service. A savvy do-it-yourselfer doesn't just replace the pads and rotor. Any corrosion of crud on the moving surfaces needs to be cleaned off. I sometimes take the caliper completely apart to clean the clean out any corrosion in the hydraulic parts.
Bleeding and brake fluid replacement are pretty much the same. You could just bleed the brakes a little during service....it's better than nothing, and the worst fluid is generally at the fluid end points. But it's not that much more work or expense to completely replace the fluid.
95 E320 Cabriolet, 131K