Yikes! $3k to replace the valve stem seals? You need another opinion and another estimate.
If your valve stem seals are going bad, generally you will see a puff of blue smoke after coasting down a ling hill (in gear) when you first give it some gas. The high intake vacuum while coasting pulls the oil up the valve stem and then when you get on it, the oil is burned in the cylinder. If the seals are real bad, the engine will not idle very long. It will run fine for a while and then the plugs will start fouling from the oil as it sits and idles, and the idle will get rough, and then the engine will die when the plugs start getting fouled.
If all you have is an occaisional puff of blue smoke after an extended coasting period, I would not worry about it as long as the engine is running fine. I "assume" you have new spark plugs installed. If not, and you are on the original plugs, you need to change them for a number of reasons. An engine will run a long time with leaky valve seals, and as long as you keep enough oil in it, there should be no serious problems.
Be sure to always keep your oil level in between the "add'" and the "full" marks. You do not want to run low on oil. Keep changing it as you have been, and you should be fine.
$3k sounds outrageous to me to replace valve seals. Of course my frame of reference is doing it on a small-block chevy engine, which is pretty much a do-it-yourself job in less than a day. The overhead camshaft would probably add some pain to the process. I would definately get a second opinion and estimate from an independent shop that does engine work. An alternative- you may be able to find someone to install some rebuilt heads on it for alot less.