My 3 kids have all missed their doses a number of times (my oldest is 16yr) and they have always been fine.  I have their morning & 2:00p.m. doses in an "every day of the week" pill box on the corner counter in the kitchen, so I can monitor them throughout the day. (those weekly pill boxes are found everywhere, Walgreens/Walmart).  I also have a timer that goes off every day at 2:00pm just to remind us!!  For bedtime meds, I also have a "every day of the week" pill box.  These are all kept right by their toothbrushes.  When I go to bed at night I always glance at them to make sure they have taken their meds.  However, there have been a few times when I forget to look and they forget to take them!!  Every Sunday I fill up all the pill boxes.   Now that my oldest is 16yr, I have her fill up her own pill boxes.  Also, my 16yr old and my 13yr old(middle school), take their 2:00P.M. med during the week by themselves at school (with school permission).  Everyday I put their 2:00p.m med in their spot (where they have their books/lunch/water/school papers, etc.), they put the pill in their pocket and they are off!!  They did forget at times initially, however, when they would come home from school at 3:15p and they felt tierd & headachy they learned that it was because they forget their meds.

We have to teach them at the earliest possible age to take responsibility for their healthcare.  You all have to judge the appropriate age and personality of each of your children for the right time to transfer that responsibility.