If the brake fluid looks dark, I'd change it. Shop around for price. If you don't plan on keeping it for 200K, skip it. I did the turkey baster on my old Neon. You don't need to get 100% of the old fluid, you will improve he quality of the fluid. Repeat it a couple of time in a few days, you will get most of the old fluid out.

 

When I do the brake fluid, it suck out the reservoir, put fresh into the reservoir, then bleed down to the 4 wheels. (Keeping the reservoir full so it doesn't suck air) Maybe the dealer service-writer doesn't actually turn wrenches, so he simplifies the explanation & gets confused?

PS fluid is not called for replacing on any schedule that I've seen from Honda. So sucking the fluid out of the reservoir, you get about 1/3 of it out. Run awhile & repeat, it gets cleaner each time you do that. After all, that's how most of us do ATF changes, and it's a lot better than leaving the fluid in FOREVER.

 

I personally have never bled brake fluid out of my lines, unless doing caliper work etc..

What I have done is use a turkey baster and periodically suck out and refill the reservoirs on both the power steering and brake fluid systems.

On the power steering system, I use Lucas power steering fluid with conditioners, which is safe for Honda's (so they claim) and I have never had any PS issues.

Good luck!