Hi Scott, it does make a difference especially if you change enviroments a lot.
Moisture will eventually effect a thermarest as you will get mildew build up inside, this will make a difference to the self inflating properties, if you leave the valve open it will allow air to circulate naturally and keep it dry to the conditions that you are subject to.
I have a therma rest that is getting on a bit (I bought it in 1991) and it is still going strong, I don't always store it witrh the valve open, but I do when I get back in for a week or so before rolling it up with the valve open.