[android-developers] When should I leave a service running?

I'm trying to understand the lifecycle of services. What I don't quite get is when should I ensure my service is stopped when done with its work and when should I just leave it running in case it is needed again. Is there a cost to starting a service? If I know that my service will do things once per hour for example, is it best to stop it in between or should I leave it running? 

Looking at other apps it would seem starting a service is expensive and that I should basically always leave it running. From the looks of it that is what Google Maps, Google Music, Email, Spotify, DoggCatcher, Google Listen and more does at least. 

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