Small amounts of water get into your brake system over time, period. How much can be debated. The big push about ABS braking systems and changing the fluid at a specific interval (which varies slightly depending on the manufacturer), is if any water gets in the system and pools in the fluid (DOT 5) or mixes w/ the fluid (most others - hygroscopic), it can cause corrosion, and ABS valves/parts/etc can be expensive and could possibly fail due to corrosion. It's a "best practice".
Now is your bike going to blow up - NO.
Is there a possibility that fluid contamination and/or corrosion will effect the ability of the brakes to work as designed/properly - YES.
That's one of those personal judgement calls (I must admit, I am lacking in the every 2 yrs Dept). Thanks for the reminder. It's cheap insurance, but can be a pain. Just my 2 pence!