I'm under the impression boiling them is only employed for users with weak immune systems (e.g., babies), and even then not always necessary, so I just wash mine with soap & water, or brush them with my toothbrush in the morning.
If you tend to drool a bit while using it, wearing chapstick is a good idea... I find I don't have too much of a problem with that lately, though.
The best tip of all is to enjoy it! They're great for letting go of 'big' thoughts and relaxing~
Essentially as adults nothing we use needs to be sterilized. You can if you want to, but it doesn't need it. My stuff goes in the dishwasher when it can or hot as I can get it soapy water (with a little mouth wash for anti-bacterialness) for a soak to be rinsed with clean cool water after. I don't recommend my usual method but anyway you use to clean your normal cups and things should be fine. Again as adult our pacifiers, sippys and bottles will be cleaner than a babies/childs anyway, and you only tend to sterilize things for children under the age of 2 or if you have a medical thing like weak immune system ect.
I'm from "no boil/dishshwashing" club. If nbecesary, so I clean my pacis with cold water, nothing more. If your pacis are always out of "agresives areas" (like floor of some public WC,) no sterilizing proces proceed. I do in this way about 20 years without any problem...
If I drop mine and feel like it needs to be cleaned, I use my toothbrush. Unless it really got something on it and I was worried, I would probably just boil it for a little bit, nothing too extreme. If you had been recently sick and used it and felt like it might still have germs on it, that might be a good time to wash it. Other than that, they don't take too much upkeep. Especially if you have a safe, clean place to store them.
Also, that dinosaur one is absolutely adorable, I'm jealous.