Unless they are Juicys (though it's better to just throw them in the bin)
I've even broken the rules and not bled my X0 Trails after shortening the cables. They are perfect despite predictions of doom by not instantly bleeding them.
9 times out of 10 a brake bleed is actually not what's required. It's an easy advice to offer though. Chances are it will seem to work as the process of bleeding has you taking wheels off, fiddling and adjusting, possibly pushing pistons back, which is probably all that was needed.
Pulling to the bars? Wheel off, pump brake, push piston back, refit wheel. Often solves the problem. Or it could simply be worn pads and the brake hasn't adjusted (good ones self adjust properly for wear). Doing the same trick can help, or bite adjuster or just fit new pads. Seen people with exactly that problem but everyone jumps in saying "bleed the brakes!" when it's just the pads were worn.