Every spring (so far, anyway), I head to a big quiet parking lot and spend a couple of hours doing drills. During the riding season, I practice emergency stops once or twice a week on a quiet stretch of road. I use both front and back brakes on pavement.
2009 KLR650: Workhorse, dirt pig, mule, traveller. Makes me smile every ride.
2012 Versys 650: Jumpy, nimble, eager, traveller. Makes me laugh maniacally.