You should always use the lens hood for protection; it will also improve contrast on your photos.
Unless there is a clear danger like a sand storm or salt spay on the beach, there is no reason to use "protection" on your lens. Any piece of glass or plastic in front of the lens will degrade quality to some degree.
If you still wary about damaging the lens you can always buy insurance. That way even if someone steals the lens you get it replaced.
Take off the filter and enjoy your lens the way it meant to be