If you live in the US you have the benefit of the Magnusen-Moss Warranty Act, which means that a warranty claim on your Yamaha can't be denied simply because you do your own maintenance, nor can warranty work be denied by an authorized dealership if you didn't buy the bike from them. Service departments like to either insinuate or outright lie that not having your bike serviced will void a warranty, which is always a good barometer of whether or not you should be using a service department that either outright lies to you or at the least manipulates the truth.
I know that a lot of riders, especially the ones who aren't all that adept at maintenance, think that a service department performs some sort of high tech wrenching at your 600 mile service; they don't. In fact, unless the shop is at a really slow point in the year, that 600 mile service is probably done by the junior guy with the least experience, because basically it's just an oil change, regardless of that long list of things the service manager claims are being done. If the shops are busy, the experienced mechanics are the ones working on the bigger jobs; your 600 mile service might well be done by the boss' kid who's home for the summer from culinary school.
There's nothing wrong with having a shop do the service; you don't surrender your man card if you opt for that. Lots of guys either don't have the time or the desire to do it. If you do have a shop do it, though, you should look through your owner's manual and familiarize yourself with everything that's supposed to be done during the 600 mile (and all the subsequent) services. If a service manager tells you something like "oh, you need a valve check at 600 miles", or "oh, the plugs have to be replaced at the first service", then you'll know he's lying to you, because none of that stuff is on the first service. Knowing what needs to be done, even if you aren't going to do it yourself, is going to give you a lot more confidence in dealing with a service department. Don't be afraid to call a service department on their BS if they do that sort of thing. A service manager is less likely to try and bullshit you in the future if you give the appearance that you know what you're talking about.
In the past, I took bikes to the shop for maintenance. After years of paying $120.00-$150.00 for what amounted to an oil change, I got tired of it, and started doing it myself. The more I did, the more I felt comfortable doing. Now I do the oil changes, tire changes (which isn't nearly as hard as a lot of people claim), brake and clutch fluid flushes, final drive oil changes, TBI synch, etc etc. A lot of what I learned how to do, I learned from on line forums, the service manual, and watching videos on YouTube. YouTube is a great source for motorcycle maintenance instruction; I leaned how to disassemble my forks and change the oil in them, and how to service the steering head bearings, just from watching a YouTube video. And I'm not a gearhead, and I don't particularly enjoy wrenching, but the feeling of satisfaction of being able to do stuff on your own and not let yourself be taken advantage of by a service department can overcome my general apathy of turning a wrench. You don't need an elaborate tool set, either; a metric socket set, and a filter wrench and you're on your way. You can buy more elaborate tools as you need them, but even if all you ever do are oil changes, you can buy a filter wrench and just use the tools in the on board tool kit, and save yourself a lot of money over the life of your bike.
I keep records of all maintenance I do. The warranty is long since expired on my bike, but I continue to keep the records. It helps for things like trying to figure out the longevity of a particular tire, or how long a set of brake pads lasted, or spark plugs, etc. During the warranty period I also kept receipts for anything I bought for the bike, like oil, filters, etc, to help my case if there ever was any sort of warranty claim. This is a page from my maintenance record, which shows the kind of stuff I document: