Autovacuum is done when needed and it only creates statistics that are used when planning a query.
Basically you never need to do this manually, unless you have made vast changes to a table (filled it with data for example), and want to use it in another query within a few milliseconds. In that scenario, old statistics will result in the query planner coming up with a very bad query plan and will lead to a significantly slower query.
What you might want to do once per day / per week, or whatever, is to cluster tables, recreate degraded indexes, on tables that were modified a lot. Research these topics more to decide if / when / how to do it.