It really depends on what you want to do.....But since airlock bubbling isn't a good indication of what's happenning that's NOT a good time to take one...just because an airlock isn't bubbling doesn't mean fermentation isn't still going on....you can take one then to see that whether or not your near terminal gravity or not.
If you believe in secondarying, then you'd to take your grav readings down the line a bit, I recommmend taking the first one on day 12 and the on day 14 and racking.
If you're planning on long secondarying you wouldn't bother taking one at all (except maybe on bottling day to get your fg for abv purposes.)
If you are lagering and believe you need to do your d-rest around 80% then taking it around day 5-6 would be a good thing.
But don't forget if you get a three day lag time, on day 5 you're only at day 2 of fermentation.
If you don't want to secondary or want to rack to a keg -take it around the time you would be doing it if you were racking, like I said around day 12.
If you are convinced you're beers not doing everything and you're a nervous nelly, then you'd take it after 72 hours.
If you're ever concerned that there's an issue you can take one to ease your mind.
But there's no pat answer to this. A hydro reading is a diagnostic tool, like an x-ray, it's the ONLY reliable way to tell you where your beer's at on it's journey to terminal gravity.
But remember fermenting the beer isn't the only thing the yeast does...giving it enough time to clean up by products of fermentation like for example diactyl requires more yeast contact in primary. SO even if you opt for secondary or rack to a keg, or you're brewing a low grav beer or are impatient and want to bottle, it's a good thing to leave the beer alone for a few more days regardless of the gravity reading.
But remember yeast can't read, so calendars and recipes have little bearing to the timeline of the yeast0 they have their own agenda. ANd airlocks are just valves, not fermentation gauges, and krausens aren't good indicators either (I've had krausens sit on top of the beer for two weeks AFTER the beer reached terminal gravity) It's good you want to take readings.
You don't need to be anal about them...like I said, unless I believe something's wrong, I only take 2 one on yeast pitch day and one a month later on bottling day- BUT that's because I am long primarying.
The time you choose to do them, really relates to your intention for the beer- whether you're trying to ease your mind, whether you're planning to do a d-rest, or whether you're planning to rack to secondary or keg- each of these reasons have a different rough time frame.
Hope this helps.
Kudos on wanting to take them though.