For my sneakers that I use as walking shoes, as long as I remember, I tie them loosely enough to slip them on and off without having to redo the knots.

For my tennis shoes, I re-tie them tight before playing. Afterward, I untie them, loosen them, and re-tie them loosely before slipping them off. That way, next time I want them, I can slip them on and walk comfortably until it is time to play, whereupon I tighten them.