Definitely OK to leave it on all the time. In fact I'd even say if it were your only lens you use it would be *worse* for the camera to remove it after each use, primarily because you could get more dust in the camera body that way.
I had a 24-105 permanently affixed to my 30D (for nearly a year?) before I got the 24-70 and 70-200 2.8's...
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