Duct cleaning is a band aid, like washing you hands is. Under your description, why wash your hands more than once? If it gets cleaned once, it shouldn't get dirty again. Well that is, unless they touch something dirty. Keeping your hands completely clean is virtually impossible. Same as keeping dust out of your home. You clean your ducts and over a 3-5 year span they get dirty again. Also, duct cleaners are not licensed but should be certified by NADCA(National Air Duct Cleaning Association).
Some research suggests that cleaning heating and cooling system components (e.g., cooling coils, fans and heat exchangers) may improve the efficiency of your system, resulting in a longer operating life, as well as some energy and maintenance cost savings. However, little evidence exists that cleaning only the ducts will improve the efficiency of the system.