I have managed to write the polynomial mentioned in the title as a sum of squares as follows:
$$ z^4 + z^3 + z^2 +2z +3 = \left( z^2 + \frac12 z - \frac18 \right)^2 + \left( z + \frac{17}{16} \right)^2 + \frac{475}{256} $$
Is this the simplest way to prove that it has no real zero, or is there another way that is simpler?
Update. The first comment below, written by Piquito, seems interesting, but I don't understand why the inequality would be true for all real z. Can someone explain it?
Here is a completely elementary proof (without calculus, complicated calculations or tricky factorizations):
For $z\geq 0$, we have $$z^4 + z^3 + z^2 +2z +3\geq 3.$$ Therefore, there is no real zero in the interval $[0,\infty)$.
For $-1\leq z\leq 0$, we have (multiplying by $z^2$) $-z^2\leq z^3$. Then, $$z^4 + z^3 + z^2 +2z +3\geq z^4 + (-z^2) + z^2 +2(-1) +3=z^4+1>1.$$ Therefore, there is no real zero in the interval $[-1,0]$.
For $z\leq -1$, we have (multiplying by $z^3$) $z^4\geq-z^3$. Then, $$z^4 + z^3 + z^2 +2z +3\geq(-z^3) + z^3 + z^2 +2z +3= z^2 +2z +3>0.$$ Therefore, there is no real zero in the interval $(-\infty,-1]$.