It really depends on what kind of riding you do. For what you have described, your skid plate will not be absorbing much abuse. Most everyone here will agree that a really hard strike on a large rock to a skid plate that is engine mounted might do more damage to the engine cases than a frame mounted plate.
The Happy Trails skid plate mounts to a transverse bracket in the rear that bolts to the frame on the right side (where the exhaust pipe is clamped) and to the kick stand bracket on the left. Mine sustained a hit on the bottom of the plate by a rock that left a gouge in the soft aluminum. No other damage. It is positioned about as high up as a plate can go, just under the exhaust, and it bolts to several brands of crash bars up front. That said, the HT skid plate that I bought for my '13 DL650 earlier this year is enormous. I think they make one size that fits all. It affords great protection and has no downsides other than visual (some folks here have said one brand or another of crash bars look ugly - to each his own) and perhaps cost.
If you are shopping for a skid plate, do a 'skid plate' and 'crash bar' or 'engine guard' search and start reading threads. There is a lot of info here. Keep a pad and pencil handy to take notes and list the brands of skid plates and crash bars that are mentioned. Then go to the websites (google search) and check them out. You can get plastic, steel and aluminum plates; crash bars are almost mandatory if you are going to go off road. Things happen. One item - i think T-Rex racing offers a plastic puck for their crash bars. I made a pair for my bike, experimented to see what would touch down first to locate them, then mounted them. Between my solo box panniers and the puck, I got no scratches or damage when I dropped my bike when attempting to start from stopped on a curve in an uphill gravel road.