I can't believe that some people only take their dogs out 2 times a day! Even 3 sounds too little. How many times a day do you go to the bathroom?
I think dogs should be able to potty when they need to, just like people are able to do. I have 2 Shih Tzu and they use puppy pads, because I want them to have a bathroom whenever they need it. Not crossing their legs until the next scheduled potty break. For those that don't use puppy pads, I would use doggie bells, so they have the ability to TELL you when they need to go.