Leaving 3 ah on the table is already pretty good. I would not sweat discharging to around 75% discharged. I see no harm really, in that. Sure, it should be better to charge every time, but at some point we have to decide if the effort is worth it. What I mean is, if the recharge is easy and at home, why not. But if it means carrying a charger around, charge when you get home.
So the real question is, if you charged every trip, would the battery spend lots of time fully charged? This doesn't harm the battery per se, but it does wear the battery a little bit faster if it sits around fully charged, and in a warm place for weeks at a time. To lessen that can be good, so when the weather is warm, it could make sense to run three trips then charge.
In this case, it almost becomes flip a coin. Gain some charging every trip, but maybe lose it back if the battery would not be discharged again immediately. But if its always an easy charge, and you can ride right away, go ahead and charge every cycle.
Bear in mind, some of this reluctance to charge often comes from bad experiences with NiCad or cell phone chargers that sucked. I once had a phone that ate a battery every six months. As I learned about batteries, I found the cell that should have been charged to 4.2v max, was getting charged to 5v every cycle. no surprise I'd learned to charge that phone as seldom as possible. But your charger should be ok, and safe to use often.
Sorry if that answer is a bit non committal, but the fact is either way you decide to go is OK enough. Do what is convenient for you. I'd be inclined to take the long way home if my ride was that short, for the fun of the ride. So I'd want to have at least half a charge when I left work.