I used to go to failure every single max effort bench day and every single max effort squat day. As I have become stronger and know my body a little better, I have ceased going to failure. I still miss occasionally, but it is not planned. I used to plan for it. I don't like what it feels like to miss a lift. Even a training rep. I strain like Hell on M.E. day, but I try and make sure I get a new PR, and if that is all there was in the tank, then that is enough. If it felt easy, then I go for a bigger PR. Sometimes I get these and sometimes I don't.
Going to failure, in my humble opinion, at least for me, allows my body to think that failure is an acceptable option when the weight is too heavy for my current level of strength. Well, failure is simply not an option. I try to never miss, in an effort to train my body to never miss. If I miss an attempt, it usually means I am out of my groove. If I can keep the weight in the groove, especially on bench movements, I have a hard time imagining what a miss would feel like.
B.