If you're staying properly hydrated throughout the day you should be urinating or peeing 6 to 8 times per day at minimum and if you're not peeing at least 6 times per day then you could be dehydrated but not always.
Some people may even pee or urinate up to 10 to 12 times per day depending on how much fluid they drink since the more fluids you drink the more often you'll need to pee.
Some certain medications, like diuretics for high blood pressure can also cause people to urinate even more often due to the diuretic effect.
So as long as you're peeing at least 6 times per day you are likely properly hydrated and if you want to make sure you're staying hydrated you should drink plenty of water or other hydrating fluids throughout the day even before you feel thirsty to avoid getting dehydrated.