If you live in California, you'll experience more than two earthquakes per year (hell, SoCal just had two reasonably strong ones over a span of two days). It's certainly enough to develop an intuition around relative amounts of shaking.
The only time I've felt the ground shake was in the earthquake simulator at the California Academy of Science in SF :)
I went to school in the LA Inland Empire area - there was a quake I felt last year there during class. It was really close but I'm pretty sure it was just short of 4.0.
We have hundreds (thousands?) of quakes per year, but the likelihood your average resident feels a quake in any given year? I think it's low.