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You won't really damage a lipo until you drop to about 3.4v or so. The original voltage alarms for lipos I think were actually set at 3.2v, most people only use their lipo to about 3.7v now (which is the recommended storage charge). It's recommended that you don't leave a lipo fully charged for more than a week or two. For instance, if you don't play in the winter, it's a good idea to discharge your lipo to 3.7v storage charge.
As much, if not more, than voltage, look at the capacity used. It should not drop below 40% so if you're recharging and you put more than 60% of the capacity back in it then you're probably drawing too much. Now that's just a rule of thumb to make your lipos last longer, the cost of these lipos is pretty low so it's not as much of a concern.
Remember that besides light weight, lipos have a big advantage in that they have a pretty flat discharge curve, that means they maintain a fairly even discharge until right at the end when the curve drops right off very steeply. If you keep using it until you notice an appreciable change then you're probably running it too long in terms of trying to prolong the life of the lipo.
Lipos don't typically catch fire due to over discharge but they can puff up which will reduce their charge and life. The biggest danger to lipos catching fire is during the charging of them.
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