Varies with climate/temperature and specifics of the faucets/plumbing. We've had heated basements for a long time, so nothing all that new here.
If they are frost-free sillcocks, probably nothing is needed, but you'll save a bit of energy and add some insurance with an insulated cover over the outer part. I have seen these freeze in a heated basement under very cold conditions with no water use (so even though the sillcock was drained back to the inside valve, it conducted enough heat away from the inside that water in the pipe near it, on the other side of the valve, froze.) That was probably at -20F and the basement was heated, but not hot. Since the piping for the faucet was near the outside wall, it was a relatively cold spot in a "heated" basement, with a hunk of thermally conductive brass sticking out into the cold.
If the sillcocks are not of the frost-free type with a long stem and a valve on the inside, in my opinion they need to be drained in any climate where it freezes, though you might get away with neglecting that in a very mild freeze, depending how well the pipes are exposed to the heat; again, that can be improved somewhat with the insulated covers for the outside part, but draining them is safest.