If it has enough power for how you drive it, then if it were mine I would not do it.
Years ago I use to fly remote control model airplanes quite often. After the first couple of years I got good at it and no longer crashed them. And I flew them for may years and many many times. I had hundreds, and maybe even thousands of hours flying them, and one problem I ran into was an engine that had carbon build-up in the cylinder above the piston. I used some solvent to loosen the carbon and it came loose and the piston scratched the cylinder wall very bad with the carbon before it blew out the exhaust. That engine ran good enough to still use when the carbon was in it, but it could not produce enough power and did not run right after the cylinder was scratched. So by trying to clean it and get more life out of it, I ended up ruining it instead. Carbon can exist in very abrasive particles. Sure in some forms it may appear as being brittle or even soft such as soot. But Carbon is also use as an abrasive. A common abrasive is made of carbon paired with silicon, it is called carborundum.
So you should consider that when you do one of those cleanings with the engine running that carbon does get into the cylinder, and in the brief time it is in the cylinder some if it probably will get trapped in the area at the edge where the piston meats the cylinder and then be dragged upward while the piston moves up. Weather this causes significant damage to your engine is a crap-shoot. Sure there is a good chance it will be blown out the exhaust and not stay in the cylinder long enough in a spot that causes damage. But there is a chance that a sharp abrasive particle of it gets in the spot where the piston drags it up against the cylinder and damages it enough to cause enough loss of compression to damage the engine to the point that it no longer runs proper.
So, if it ain't broke don't fix it. If it produces enough power for what you need from it, then leaving it as it is is the safer option.
Again, if it were mine, and it produced enough power for how I used it, then I would not do that type of cleaning of the intake valves, even if it were offered for free, strictly because there is the very real chance that a cylinder wall can be damaged by carbon particles that came loose because of that type of cleaning.