The great thing about most hand made rugs and some rugs made by machine is that they do not really need much maintenance; most quality rugs will last several decades and in the case of finest quality wools, a rug may last a century or more.
1. Vacuum them as often needed (without a roller-bar.)
2. Spot clean right away when an accident happens.
3. Always have proper pads for all your rugs that are used on hard surfaces, such as hardwood floors, tiles or marble.
4. Rotate your rugs 1-2 times a year depending on the traffic they undergo.
5. Have your rugs washed every 3-5 years by a professional, like Terry's Oriental Rugs. Even if not walked on on regular basis, fibres still need to be refreshed and matted down fibres restored.