For QVS there is a simple method. Start you desktop and select File->Open in server. Enter an address like qvp://servername (or the URL you find in System->Setup->QlikView Servers->QVS->General) and make sure the request will use the correct credentials. Press Connect. The first window should display a directory tree and the bottom window should list a series of QlikView documents.
Use a browser for the other services. Open QMC and navigate to System->Setup. In the summary tab, every service displays a URL to talk to the service (but QVS doesn not, see above).
Click on the blue link or enter the URL in the address bar of your browser. If the service replies with a large XML config dump, it's working fine.
Of course, this is only a rough test. Aside from the QMC, you can check the different logs for any subtle hickups. But that may not appeal to you except in cases of serious trouble.
There is a cool powertool called Qlikview Server Agent that you can use to keep an eye on your services. If you have the correct permissions you can run it on your local pc and keep track of the server. This program will run in the background.