Brake fluid is hydrophilic and absorbs water and for abs systems, many manufactureres recommend either time or mileage interval or both for replacing the fluid. The moisture in the fluid can damage the abs system over time. For example, I beleive my honda recommends changing brake fluid once very 3 years. Also with brake fluid, the fluid needs be removed via the bleeder on the caliper as the fluid does not really ciruclate so just replacing the fluid in the reservoir in not as effective as a full flush through the bleeders. Some cars may also require activation of the abs system to make sure the abs unit is flushed as well.
Power steering is different in that some cars do not use hydraulic fluid and some do. If the car uses hydraulic fluid you may want to change it as it will absorb moisture and at some point corrode metal lines and what not. Many manufacturers do not mention power steering fluid as a maintenance item. Power steering fluid does circulate so using the turkey baster method works quite effectively.