Clarification: The federal Magnusson-Moss Warranty Act of 1975 is the controlling document. If you find yourself bored to death with nothing to do some day, Google it and spend some time browsing. What you will eventually come to know is that a manufacturer cannot force you to use his parts or his services to maintain your vehicle, UNLESS those parts or services are provided free of charge. It is incumbent upon the manufacturer to prove that your maintenance work, aftermarket part, etc. was the direct cause of the failure before the manufacturer can legally void the warranty.
I used to subscribe to the theory Roger mentioned in his post about "good will" adjustments, etc., and I would have the dealer do the first service. After being severely overcharged on the last two Harley's for the first service, and then having to redo it myself anyway due to the p-poor workmanship, I changed my mind. Now I subscribe to Chief's theory; the dealer will see my bike only for warranty work. In fact, I have been known to even fix the small stuff that should be covered by the warranty rather than let the trainee at the dealership screw up 3 other things in his attempt to make a repair. Trust me, I've been there.
Jerry