It is not necessary to regularly check power steering fluid unless you suspect there is a leak in the system or you hear an unusual noise. A fluid loss in the system could indicate a problem. Have the system inspected and repaired.
When the engine compartment is cool, wipe the cap and the top of the reservoir clean, then unscrew the cap and wipe the dipstick with a clean rag.
Replace the cap and completely tighten it. Then remove the cap again and look at the fluid level on the dipstick.
The level should be at or above the "ADD" mark when the engine compartment is cool. If the fluid level is below the "ADD" mark, add only enough fluid to bring the level up to the "ADD" mark.
It is normal for the power steering fluid level to change as the fluid warms or cools. When the engine compartment is hot, the level should be at or slightly above the "FULL" mark when the engine is hot -- this doesn't mean the reservoir is overfilled. If the fluid level is below the "FULL" mark, add only enough fluid to bring the level up to the FULL mark.
If the fluid level is below the "ADD" mark (cold engine) or "FULL" mark (hot engine), add power steering fluid that meets GM specification 9985010. GM Part No. 1052884 (16 oz or .47 L), GM Part No. 1050017 (32 oz. or .946 L), and Saturn Part No. 21007583 (16 oz. or .47 L) all meet this specification.
Always use the proper fluid. Failure to use the proper fluid can cause leaks and damage hoses and seals. The repairs would not be covered by your vehicle warranty. Add fluid in small amounts, continually checking the lever, until you reach the "ADD" mark (cold engine) or "FULL" mark (hot engine). Do not overfill.
When you are finished, replace the reservoir cap and tighten it completely. Be sure to wipe any excess power steering fluid from the top and sides of the reservoir.