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You should generally be able to get rough focus by pointing to a bright star and looking through the viewfinder. After that, try with liveview on the same star. I have been able to get reasonable focus by doing this.
When you think that you have focus set pretty well, take a few shorter exposures and play with the focus a little, checking if focus is getting better or worse between shots.
Other than that, if you have a laptop there is a test photo option in the EOS utility software which works very well. Use the laptop to control the camera and view the images directly on the screen. It's MUCH easier to get good focus while you are viewing images directly on the laptop.
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