Your boss is still a lady and you should still display proper etiquette and manners when interacting with her and other female co-workers. Sure, she has accomplished a lot and can handle herself, but she is a lady first. Pulling out her chair, holding the door, and assisting her carry heavy items express your respect for her.
If your boss does not want you to do this, she will tell you. There are various reasons why she might opt for male co-workers to not pull out her chair and such. When in doubt, do until told otherwise. Good manners go a long way!