When you change your brake fluid you'll be opening the brake system up to the air so yes you will need to bleed the air out of the brakes when changing the brake fluid.
You can either have someone pump the brake pedal and hold it while you release the air from the brake system and repeat the procedure a few times or until all the air is out of the brake system or you can get a brake bleeder tool at an auto parts stores that will allow you to bleed the brakes on your vehicle by yourself.