Removal of plaque on your Papillons teeth is a must, and will add a good many years to your Papis long life. Plaque on his teeth will destroy his gum line, and bacteria will go in his blood stream and destroy vital organs (just like in humans).
You can train your dog to accept a tooth brush about once per week to remove the plaque and tartar.
But you still have to bring him to the vet to get his teeth checked, and possible have a tooth scale done.