My own knowledge from running hub and nodes:
I have dedicated machine to run hub and nodes. I started hub and registered nodes and then did some tests. After sucessful run, I kept running the node and hub on that machine.
Next day, I realised that everything runs and I can continue the testing.
So general advice:
- keep the nodes running. It will consume some processor time and RAM, but it will make your testing faster
- If you want, you can make the node as service. See this SO question: Selenium Grid 2 - Start Node as a windows service
- Down side is that it will consume some resources of the machine. But that is the decission you have to make...