This is hard to generalize. To even endanger components through electro-static discharge you need to be charged first. This can happen more likely when having carpet at home or wearing certain clothes that generate charges easier.
Personally, I never had a problem. The only precaution I usually take is to touch a grounded cable to remove any charges. I also never touch any components and only try to touch devices and components where it's safe.
Still, if you have a cable to attach to your wrist to keep you grounded while handling sensitive electronic components you should use it, else just be very careful. I don't think the chances of electro-static discharges are too great with the above hints in mind, but you can never rule them out if you're not constantly grounded.