Is it recommended to perform Qada' of nafl/sunna prayers?

In this post there's a quote of a maliki point of view regarding how to make up at least fajr prayer (malikis distinct between the sunna and fard of fajr by calling the fard sobh). I also know that some schools a allow making up witr, but don't exactly know the limitations. My Question is: What are/is the view(s) of scholars on performing qada' for nafl/sunna prayers, is it recommended, if yes how and are there any limitation (for example can I do qada' when ever I recall it as the case for fard according the sahih hadith: > "He who forgets the prayer, or he slept (and it was omitted), its expiation is (only) that he should observe it when he remembers it." . or can I only make up the prayers I missed actually).