Do I trypsinize and wash with PBS anytime I want to change the growth media? or just pipette PBS into the cell culture flask, swirl and pipette out the PBS solution
You would only trypsinize your cells when they become more than 70-80% confluent, not when you change media.
If your cells are not confluent, but it has been 2-3 days and they need fresh media... you should remove the old media and wash away any cellular debris with some PBS (~1ml for a T25 flask), then add your fresh growth media (no need for trypsin)
You do not need to use trypsin when change media. You should use trypsin when the cells are confluent enough for a subculture or the cells you going to use for experimental purposes. The application of trypsin repeatedly is not good for cells.