You *could* leave it on the infinity setting all the time; you wouldn't notice loads of difference. Particularly if, as pointed out above, you're not shooting very close/at high magnifications *or* if nothing in your corners is meant to be in focus anyway.
But as described, it's really sort of a four step process:
1. Before focusing, it's probably a good idea to have the floating element ring set at infinity--although not absolutely necessary.
2. Use the focusing knob (and fine focusing knob, if you have a Pro II and if necessary) to focus.
3. Check the focused distance from the scale on the side and input that on the floating element ring.
4. Using the viewfinder, see if you need to adjust the fine focus any; you likely won't have to.
Really, only steps 2 and 3 are absolutely necessary, particularly if you aren't shooting up close, although if you want to make sure that your focus is as accurate as possible across the frame, do all four.