I have a system we use at work here that seems to function pretty well with services. Our deployed system has around 20-30 services at any given time. At work we use a product called TopShelf you can find it here http://topshelf-project.com/
Basically TopShelf handles a lot of the service related stuff. Installing, Uninstalling etc all from the cmd line of the service. One of the very useful features is the ability to run as console for debugging. You build one service, and with a different cmd line start you can run it as a console to see the output of the service. We added one custom feature to this software that lets us configure profiles in advance. Basically our profiles configure a few things like logging, resource locations etc so that we can control all that without having to republish any code. All we do is run a command like
D:\Services\ServiceName.exe Core.Profiles.Debug or
D:\Services\ServiceName.exe Core.Profiles.Production
to get different logging configurations.
Our build script creates install.cmd and uninstall.cmd scripts for each of our services all we do is copy the files to the server and run the script. If we want to see debug output we stop the service and double click the exe and we get a console to read all the output.
One more thing that topshelf has which we don't use because its not necessary is the concept of shelving (there is documentation on this website for this). This allows you to update the service without having to "restart" but you still need to copy the files manually unless you build an automated system for that.
However, my suggestion if you need 100% service availability is to have a redundant system. No matter how you configure your service for updates you cannot avoid hardware failure causing downtime without an automated failover system. If said system was in place my recommended update strategy would be to turn off 1 node, update, test, turn on turn off the other node, update, test and turn the 2nd node back on. You can do this all of course with a simple script. This may be a more complicated system than you need but if you can't take a service offline for a simple restart that takes 5 seconds then you really need some system in place to deal with hardware issues because I can guarantee it will happen eventually.