I hook a small battery checker/alarm to the battery, with alarm set at 3.7v. My goal is to end with 3.8v/11.4v for 3s, which I consider a good storage voltage. So, after flying, there's no need afterwards to do anything to the battery until the next time I fly.
When flying, and I apply a larger amount of throttle, (say, 3/4 to 7/8), the alarm may go off. Especially if the battery is a low c (like 30c). When it does, I cut back to a cruise setting, if it stops alarming, I continue flying. The voltage has gone low due to voltage draw, but in particular, low c batteries have large sag. But they can recover, at lower settings, to a voltage that is still flyable.
I once had an alarm which did NOT go off, but I knew approximately how long the flight should last, so I landed. The voltage had gone done to 3.4 or 3.5 or so. That battery started to puff on my. So, even though some sources say you can go lower than 3.7, it's not a good idea from standpoint of battery life.
Charging in a bag is to prevent the fire from spreading to the rest of the house. An alternative would be to be PHYSICALLY present during the entire charging session. I try to do that, my computer is right by my charging station, so I just play on the computer while the battery is charging.
I have not done it, but I have imagined that putting the battery in a bag, then putting that bag inside a cheap roll around barbecue grill would be a possible safe charging method.