The thought of teeth decaying and falling out is really only half of the worry when it comes to the dental health of your children, or for anyone else for that matter.
Children should start seeing a dentist as soon as they have teeth. If there seems to be a problem with them coming in in the first place, it might be wise to take them in for a checkup. You can now get the cosmetic dental implants via https://restonmoderndentistry.com/dental-implants-reston-va/
Those early teeth can tell a dentist a lot about what children dental care they are going to need in the future. Though not all can be told from a few teeth coming up, you can be surprised at what can be learned. After that, your dentist should tell you how often they would like to see you for dental visits.
You can always take your children to your own dentist when it comes time for their dental care, but that does not always work out. Some children are just not up to the adult environment.
A friend of mine has a boy that is mild mannered and very well behaved, but would freak out at the dentist office. If you look around your community, you may see that there is a dentist for children only, and run by someone who specializes in knowing how to get children to relax and get what needs to be done finished with much less fuss.
What you want to take in to consideration is up to you, but it is always a good idea to have them in at least once a year for a checkup. What happens with the baby teeth is not as important as what happens when the adult teeth come in, but problems with the first set can indicate that there may be problems with the second.
Then again, what happens when they are five or six may have no bearing on what happens on down the road. That is something that you can learn through dental care so you don't have to worry about things that might not seem right to you as they grow.