Ask 10 people and u will get 10 different answers.
I've doing this for years, I did this for a living. Once I open up a box that was servicing a whole lab, and without unplugging it, I proceeded to vacuum it, DUMB I know, that was just for laughs (true story though), but household vacuum is all I use, too strong, so pull back the nozzle a bit, you have control. The dust has to go SOMEWHERE. Sometimes compressed air helps but that dislodges the dust, I tend to use compressed air when I can turn the circuit board upside down, blow and let the dust fall. Dust will stick to fans/heatsinks, to do a complete jobs, those needs a stiff brush.
My final suggestion is, don't obsess about it, unless it's real bad, is been 3 years, or you are in a very dusty environment, you may wanna leave it alone.