You think that's bad, try a batwing. There are so many lube points on my BW12 that it boggles the mind, and yes, about 1/2 of them seem to be covered by some sort of shield that needs removing. At least, on that cutter, it's not that bad to get them off, which, is a real good thing, because there are 4 PTO shafts on the thing that need greasing! Ujoints, CV joints, adjustments points, wheels.. It's like a 40 minute operation just to hit all the grease points, I'm pretty sure it has more than my small tractor with a backhoe on just the stupid cutter.
Rant over, back to the topic, some of my PTO shafts have a zerk in the middle of the shaft to grease the connection points between the 2 halves. Others I have to take apart and manually grease. Both are a PITA, but, as others have said, you don't need to do it that often, you're just preventing seizing with that grease, not actually lubricating a part that moves all the time. It's not like a wheel bearing or something that's getting action non-stop when you use it, only when you articulate the PTO shaft (generally going up and down on the 3 point). I grease mine in the spring and fall typically, or, for things I use less often, I just grease it when I put it up if I know it's gonna sit awhile. When I reconnect, I just make sure it's moving freely, I've never had one seize on me, so seems to be working OK.
Oh yeah, and if you don't have one, get a Lock and Lube. I actually have 2, one normal sized one and one extra long one on a different gun. The normal works for most things, but when I need the extra length, it's really nice to have (my zero turn has a zerk that's about impossible to get to without it, and it's real handy on other zerks to have a little extra length). Man, I use a lot of grease here. Like a Superfund site in the making when you figure all that grease winds up somewhere on my property as it oozes out.