The brake fluid absorbs moisture and may vaporize under the heat of heavy emergency braking. If that happens, you have no brakes. Renewing the fluid every two years is the common recommendation, and always good advice.
The power steering hydraulic oil deteriorates from the heat of operation and won't protect the steering parts as well. It is smart to siphon out and refill the reservoir when you do a tune up...30,000 or whatever the recommendation is. Adding an in-line filter to the return line (Magnefine or SPXfiltran) is smart--every hydraulic system need clean, filtered fluid. Use fluid labeled for Hondas. After the mileage you have, I'd siphon out & refill, drive around the block, empty & refill again, drive, empty and refill again to get the system clean and filled with good fluid.