Is it better to clean out earwax or leave it alone?

Recently, I went to the hospital because I kept hearing a crackling sound in one ear, and it turned out to be earwax. According to the doctor, using a cotton swab to clean the ears pushes the earwax further inside.

So, does that mean I shouldn't clean my ears regularly? Should I go to the hospital periodically to clean my ears? I usually clean my ears when I go to the beauty salon or similar places because I'm worried about my ears being visible, but it's quite confusing.