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You won't need to bleed unless you let the fluid get too low in the reservoir or you open the valves.
BUT, You should periodically bleed and flush contaminants out of the system. If the fluid is brown, flush(Uh bleed) it down.
Dirty fluid can lead to rust of the system(cylinders, lines etc) and bad braking after a long stop. If you ever rode your brakes down a mountain, you may have discovered the fun of a spongy brake pedal. Dirty fluid makes this happen easier.
So yeah the lazy brake job is Ok without bleeding. But a good brake job includes bleeding and flushing.
I'm doing mine tomorrow. I was going to open the bleeder then push the piston back in. Changing out some fluid is one reason, the other reason was I thought you didn't want fluid going back towards the master cylinder on ABS brakes. Any thoughts?
Rather than open the bleeders, just use a big C clamp and gently slide the caliper back, then un-bolt, pop in the new pads, re-assemble and yer on yer way. No mess, no bleeding.
Antelope V10 has the correct procedure (and reason). Then when you have the new pads in and everything back in place, do a quick bleed on each caliper in case any air got in. Not much trouble to do and well worth the minor effort.
I would also flush (bleed) the whole system. I do it at least once every 2 yrs on all my cars. But the real important part is above.