Yes you should always rinse out the cloth diapers before washing them or placing the cloth diapers into a diaper pail.
If the baby has pooped then dunk the cloth diaper into the toilet bowl and flush the poop in the cloth diaper down the toilet.
Then rinse most of the poop out the best you can so that less of the poop gets into your washing machine although the washing machine will clean off the poop it's best to keep most of the poop out of the washing machine.
If your baby is breastfed then usually you don't have to wash those stools out of the cloth diaper first since usually breastfed babies stools will wash easily away in the washing machine.
Cloth diapers do require some work to keep clean and prepared to be ready to work on cleaning the diapers.