Cloth Diapers don't hold the wetness away from a babies or toddlers skin like disposable diapers do so yes I would say that cloth diapers should be changed more often to prevent diaper rashes and keep your baby or toddler comfortable.
Disposable diapers use a gel called SAP "Super Absorbent Polymer" which sucks in the urine and holds the pee away from your babies or toddlers skin so they get less rashes and they feel more comfortable.
In disposable diapers the baby or toddler rarely feels any wetness unless they soak through their diapers but with cloth diapers they don't absorb the urine as good so the baby or toddler may feel more wet and be more uncomfortable.
So if you use cloth diapers on your baby or toddler do change their diaper more often to keep them comfortable, clean and to prevent diaper rash.