However you do it, the objective should be to get the bottles clean. There should be no yeast residue in the bottom of a bottle. After pouring a bottle, I drain, rinse, soak with a solution of dish soap, scrub with a bottle brush, scrub again with a microfiber-type brush, rinse again, then drain upside down in the dishwasher. When dry, I store bottles upside down. When ready to fill, I sanitize with StarSan for 2 minutes, drain upside down, then fill.
I could see trying a steam or boil sanitization method, but my clean as I go technique works well for me.