You wouldn't normally try to measure the component itself to see if it is properly soldered.
You'd normally just look at it. That's "visual inspection."
Here's a couple of photos I made a couple of years ago of a 1206 sized capacitor:
You can see that both ends are soldered to the PCB. They are slightly over-filled (too much solder) but are electrically fine.
If you really feel that you must test the connections, use the resistance setting on your multimeter and measure from some point on the trace to the metal part of the capacitor.
If you were to solder an SMD part on the indicated pads, you could check the resistance between the red points and the blue points to see if the part were connected at both ends. You'd measure to the top of the part, of course, rather than the pads on the board.
A good close look is all you should need, though.
The photos were made to approximate what you would see while soldering.
Hold your hand about three or four inches from your eye, then move your head back and forth from the monitor until your fingers just cover the fingers in the photo - the SMD part will appear in the proper proportions.