The answer is simple: The cmake binary of course needs to re-run each time you make changes to any build setting, but you wont need to do it by design; hence "never" is correct regarding commands you have to issue.
The build targets created by cmake automatically include checks for each file subsequently [=starting from the main CMakeLists.txt file] involved or included generating the current set of Makefiles/VS projects/whatever. When invoking make (assuming unix here) this automatically triggers a previous execution of cmake if necessary; so your generated projects include logic to invoke cmake itself! As all command-line parameters initially passed (e.g. cmake -DCMAKE_BUILD_TYPE=RELEASE .. will be stored in the CMakeCache.txt, you dont need to re-specify any of those on subsequent invocations, which is why the projects also can just run cmake and know it still does what you intended.
Some more detail: CMake generates book-keeping files containing all files that were involved in Makefile/Project generation, see e.g. these sample contents of my <binary-dir>/CMakeFiles/Makefile.cmake file using MSYS makefiles:
# The top level Makefile was generated from the following files: set(CMAKE_MAKEFILE_DEPENDS "CMakeCache.txt" "C:/Program Files (x86)/CMake/share/cmake-3.1/Modules/CMakeCCompiler.cmake.in" "C:/Program Files (x86)/CMake/share/cmake-3.1/Modules/RepositoryInfo.txt.in" "<my external project bin dir>/release/ep_tmp/IRON-cfgcmd.txt.in" "../CMakeFindModuleWrappers/FindBLAS.cmake" "../CMakeFindModuleWrappers/FindLAPACK.cmake" "../CMakeLists.txt" "../CMakeScripts/CreateLocalConfig.cmake" "../Config/Variables.cmake" "../Dependencies.cmake" "CMakeFiles/3.1.0/CMakeCCompiler.cmake" "CMakeFiles/3.1.0/CMakeRCCompiler.cmake")
Any modification to any of these files will trigger another cmake run whenever you choose to start a build of a target. I honestly dont know how fine-grained those dependencies tracking goes in CMake, i.e. if a target will just be build if any changes somewhere else wont affect the target's compilation. I wouldn't expect it as this can get messy quite quickly, and repeated CMake runs (correctly using the Cache capabilities) are very fast anyways.
The only case where you need to re-run cmake is when you change the compiler after you started a project(MyProject); but even this case is handled by newer CMake versions automatically now (with some yelling :-)).
additional comment responding to comments:
There are cases where you will need to manually re-run cmake, and that is whenever you write your configure scripts so badly that cmake cannot possibly detect files/dependencies you're creating. A typical scenario would be that your first cmake run creates files using e.g. execute_process and you would then include them using file(GLOB ..). This is BAD style and the CMake Docs for file explicitly say
Note: We do not recommend using GLOB to collect a list of source files from your source tree. If no CMakeLists.txt file changes when a source is added or removed then the generated build system cannot know when to ask CMake to regenerate.
Btw this comment also sheds light on the above explained self-invocation by the generated build system :-)
The "proper" way to treat this kind of situations where you create source files during configure time is to use add_custom_command(OUTPUT ...), so that CMake is "aware" of a file being generated and tracks changes correctly. If for some reason you can't/won't use add_custom_command, you can still let CMake know of your file generation using the source file property GENERATED. Any source file with this flag set can be hard-coded into target source files and CMake wont complain about missing files at configure time (and expects this file to be generated some time during the (first!) cmake run.