We feed our adults twice a day, as well; always have, always will. Puppies are fed three times a day (depending on age) until about six months or so.
Jeep, what you're doing is exactly what is recommended - if he doesn't eat in a certain amount of time when you feed him, pick it up until the next meal.
So long as he's healthy, missing a meal here and there won't do him any harm.
Jeep, what you're doing is exactly what is recommended - if he doesn't eat in a certain amount of time when you feed him, pick it up until the next meal.