I'm not sure I understand this: have all of your relapses been optic neuritis? I'm a real wimp about my eyes..if there's something not right there, I'm calling the doctor. And I think optic neuritis is the one major symptom that steroids can actually help.
Otherwise -- when I was having relapses, I'd only call the doctor if the relapse caused me to not be able to "perform activities of daily living" - -I couldn't stand, feed myself, dress myself, toilet myself, bathe myself...that sort of thing. Otherwise, I'd just wait and see, and generally they'd pass. I would note, however, when I had a relapse, and what was happening, and the next time I was in front of the doctor, would tell him.
There's never any chance that you'll recover 100%, with or without treatment. The best the steroids can offer is a shortening of the relapse, but that isn't even a promise: some folks do well with steroids, some folks do well on occasion with steriods but the next time do poorly; some folks do poorly on the steriods all the time. And their long-term side effects are really serious, and well worth considering. So if the only reason you'd call your doctor is to go on steriods, you might want to consider that, too.
I'm sorry you're having so many relapses, though. I see you're on Copaxone. I hope you start to see fewer exacerbations, soon!