Correct inflation is essential for the safety and longevity of your tires. A tire gradually loses air over time.
It is therefore essential to check its 'cold' pressure before each ride. If the pressure is checked when out on a ride (or soon after), be aware that the air in the tire is 'hot' -
In fact, when riding, the pressure increases, so you should never deflate a tire that has just been ridden on.
If the pressure (when tested cold) is lower than the recommended 'cold' pressure, it is essential to replace the missing air. After checking, do not forget to replace the valve cap which is a core part of the seal (along with the valve itself). It is recommended to change the valve assembly and cap each time you remove/replace the tire, as it is key to ensuring the integrity of the whole assembly.