All batteries loose charge when not used. AGM batteries tend to loose charge at a slower rate than flooded lead-acid.
A modern, multi-stage battery charger/maintainer is very different from the trickle chargers of old. The practice of connecting a battery to a charger for a certain amount of time, and then disconnecting it is not necessary with a modern, multi-stage charger. These chargers are designed to bring a battery up to 100% in stages, then reduce to to a float/maintenance charge.
All my bikes, my boats, as well as my RV are hooked up to multi-stage battery charger/maintainers when not being used. Moreover, my truck and car are also hooked up to one, when stored 4-months out of the year, I have never had a problem with battery life, losing excessive electrolyte due to evaporation, etc, when using a name-brand, modern battery charger/maintainer: Battery Tender, Yuasa, OptiMate, etc.
For example, my oldest motorcycle battery (Yuasa flooded lead acid) was 9 years old, and going strong when I replaced it with a lithium iron phosphate battery (required for e-start conversion on my Commando). My large boat's battery bank (6ea golf cart batteries), was 8 years old, and also going strong when I sold the boat last year.