My way isn't the norm. I would most people change socks once a week and some don't change them until they overflow. I find it less work to change it everyday because it saves the pre-rinse by hand. Mine stay white because they never get very dirty!
Bleach works though, you don't have to neutralize the bleach after either...just put them in the dryer and the bleach will off-gas. You can let them sit for a day or two to off-gas more if you're really worried.