Yes, absent any unusual usage (holding giant parties on a regular basis, continually doing high volumes of cloth diaper washing, or something equally odd) you are pumping at least twice as often as you need to. I would wait five years, find a well regarded local septic company and be there when it is cleaned out. The caliber of the company doing the work is important, since this is one of many residential services where screwing customers is common and easy. Be there while the work is being done, so you know that all of the individual compartments are sucked clean and rinsed. Then ask the operator his opinion of exactly what he found? How deep were the solids is the primary tank? Then ask, "I last pumped it exactly five years ago. What schedule would you recommend going forward?"
The thought that you don't service a system until it has an issue, or that system pumping is not necessary, is a great way to destroy an entire drain field. In some areas, you will be damn lucky to get away with a $20K bill, and a giant mound in your yard after you wrecked the last one, since they "never need to be pumped unless there is a problem". The first tank, or compartment, of a system gradually fills up with bio-solids. If you are a little old lady, living alone, and have a 1000 gallon primary tank, it may never fill up in your lifetime. If you live in the same house, with six kids, it may fill in 2-3 years. After it fills, it may back up into the house, it may fill the secondary tanks and compromise a pump and pump controls, or fill up piping in the drainfield, depending on many variables.
As for specifics on the risers, I would install them, and keep them 6-8" below finished grade. You do not want them above grade on the first two compartments, as they are not typically gas tight and they will leach gas and stink. The amazon prices are cheap. I pay $110 for a short concrete riser with no lid.
Finally, when pumping a multi-compartment or multi-tank installation ALL tanks need to be pumped, and a competent operator will clean and visually inspect the inside of each tank.