Darren, I asked this same question. I'd not ever done it either. It does make sense to do it though, I mean you change all your other fluids.
Tracy, I bought Valvoline at Auto Zone about 3 days ago. If you have one close by give them a call.
I replaced some of my power steering fluid yesterday. I used a turkey baster to suck out the old fluid. Didn't get much out, and what I got out was black. I refilled, naturally over filling, so fluid went everywhere. I sucked out more until the small dip stick showed power steering fluid to the full line. My guess is that it only needed about 1/4 of a quart, if that.
I'll continue to do this about every 10k or so, it cheap and easy to do.
Hope this helps.
Bill Cook