As long as he is pooping regularly (by regularly I mean daily, not at a certain time) and his stools appear firm I would say he is fine.
Their stools should be not too soft and not too hard (you should be able to tell by appearance, don't worry

)
Firmer stools help the dog release its anal glands each time it defecates reducing the risk of them becoming impacted and needing to be emptied.
Mine don't go like clockwork and they are both well over a year old, I swear they hold it in until we go to the park just so I have to use the doggy poop bags
