Yes, you just leave it in the soil the entire time, use it like a dipstick. Pull it out and feel how moist it is, put it back exactly where you got it from. Ideally it should be near the center of the pot, at an angle to reach under the trunk. That's not always possible depending on your root situation, so just do the best you can.
The chopstick trick has been really helpful for me, but just looking at it or touching it doesn't work for me. If you're the sort with plenty of calus you won't feel a thing, and just looking is very inaccurate.
I have to actually put the stick to my lips. Cheek would work if I didn't have a beard. The point is pick a spot that's sensitive enough to really tell how wet the stick is. Water when it's all but completely dry. Some species like it drier or wetter, of course, so adjust for that, but that's the gist of it.