I'm happy to say that at my dealer (Sierra Honda in Monrovia) they actual welcome you to take a look at your car while it's being serviced. They told us during one of their new car owner get-together/meeting thingies that they don't have any signs that say "For Insurance Reasons.... blah blah blah" or chains blocking us from entering the work areas.
They told us something to the effect of we own the car therefore we should have the right to see what's being done and to ask questions if any arise, and also that they have nothing to hide. By watching, they also hope that we would learn something about our cars.
If we want to see our cars being worked on, all they ask is that we let them know before wandering back there. I was very happy to hear this.