Basically I clean the cables well (water works well, you could mix up a little baking soda) and use a wire brush to get to clean shiny metal. It doesn't take much rubbing with a brush to get there. If the people before me have cranked the terminals down so that they bend the terminal around the battery, I've used a thin abrasive blade on a grinder to give some clearance so you can actually tighten them. I don't crank the terminals down. You can watch the terminals bend as you tighten them, the metal is so soft it doesn't resist bending much. When they just start to bend is when I figure it's good enough. If I went out to my truck and tried to turn the terminals with all my strength, I know that I could, but if the metal is clean, they don't have to be that tight. When I have everything apart, I get those green and red circular pads from Kragens or Napa and spray this 'battery protector and sealer' spray made by Permenex. One can should last you for most of a lifetime. It's a red color and it's messy. But I make sure that there is a thin coat on the inside and out and spray the pads with it.
That should last for years. I've never had a battery really keep on corroding, when they are dry, they do corrode. Check both ends of the cables for cleanliness and being tight, and you won't have to worry about cables for a long time. Generally the spray stuff gets rubbed off eventually, I just 'top' them off every year or so.
Long post for clean terminals, huh?
I've got one of those tools that grabs the sides of the terminal and has a threaded rod that pushes against the round post, I've really only used it once or twice, but it was handy then. Battery terminal plyers are nice, they fit the nuts well and it's easy to loosen or tighten, but a open ended wrench is good enough.