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All party members will get at least one point at each level up.
For example you finish a mission and go up in level and are back at the ship. You can apply the points for Shepard immediately but need to wait until other squad members join you on a mission in order to spend their points.
Also, when the squad members you are with get a point or two, so do all the others who are with you on the Normandy (including those who join later). When you are at a major base you can change your party rather than just return to the Normandy. It is not unwise to do that from time to time specifically so all of the other characters can spend the points they have accumulated. It is smart to keep them all at close to top form all the time, particularly in ME2 but not a bad idea in the other games as well.
In ME2 I will sometimes hold off on spending points they will need for the ability that opens up when they become loyal, but usually not because that ability that opens is not always that great. In ME1 or ME3 there does not seem to be any reason to hold back, IIRC, except of course if you hold off on spending a smaller amount of points because what you want next costs more.