This is my approach to lubing older steel bikes:
If I have packed the ball bearings with grease recently, and if I am sure no degreaser or detergent has got into them, then I leave them alone. If they are not sealed and have old grease then I oil them regularily and specially after cleaning the bike, until they get a strip and re-grease which is basically when they get replaced!
I also oil all moving parts like derailleur pivots, brake pivots, lever pivots, and cables; except those I know have been greased recently. Pedals with non-removable end caps get a small hole drilled for oiling.
I oil all I can reach with the bike standing, then upside down, laying on the left side then the right side, letting gravity pull the oil into the places it should go into.
I don't believe in self-lubricating plastic; it will work better with a drop of oil.
My secret recipe for oil is 2 parts engine oil, 4 parts STP oil additive, and 1 part solvent like Shellite or white spirit. Works for me and my old bikes, but I would think twice about using this method on a carbon wonder, and probably do it anyway.