My recommendation would be a regular cycle between properly wet soil and dry or nearly dry soil. You can't get the soil properly wet without holes at the bottom to allow the excess water to exit the container. I mean, you can in theory. But the danger without holes at the bottom is that water will end up pooling permanently down there and in the process provoke rot. Having a good amount of rock in the soil (pumice, perlite or gritty equivalent) helps speed up the cycle and thus make it safer for your succulents.
The top layer dries out much sooner than the soil at depth, which is what matters most when you're trying to work out the best timing of your watering cycle.
We have a sticky thread about watering that you may find helpful.
The thread "Watering your cacti and other succulents" in
Cactus and Succulents forum
