When you exercise a muscle, it needs time to recover and rebuild. Not allowing enough recovery time is bad. You will know that you are not allowing enough recovery time when you consistantly can not do as much or more than the previous day for a few days at a time. So, if you are continuing to improve over the long term you are getting enough recovery time. The amount of recovery time needed varies between individuals, with your biorythems, your diet, your exercise routine, your mental state, how much sleep you get, your daily activities, etc. Do what works for you.