Hey, i am in the exact same boat as you. Been playing guitar for 10 years and I want to learn my fret-board inside and out. I picked up Troy Stetina's "Fretboard Mastery" just yesterday. I think as with learning to play guitar in the first place, modes/scales/chords/arpeggios/harmony/theory is just another step worth taking, and its gonna be a real challenge, and takes a lot of self dedication. No one else is gonna do it for me or you, right?
Ne ways Fretboard Mastery has alot of stuff on modes, but alas i have not even broken into the first part of the book yet. Gotta memorize all of the note names on each string. obviously the E's and A string are easy (10 years of finding keys and roots) but the other strings may take another night.
wish me luck!
p.s has anyone else gone through this book yet? its pretty hefty.