Hi Pat,
No our liquids do not HAVE to steep, its entirely up to personal preference, many people steep them, many people do not, the flavors do tend to blend and develop a bit more if you let them steep a bit, but again, that's entirely up to your personal preference.
Actually, I wrote a negative review on a flavor that I'd like to change. Is there a way to do that? You mentioned, Cinder, that we don't have to steep the liquids, which many I have tried and instantly love. But one I tried w/out and it was awful. Now that it has been steeping for around 4 days, it's a totally different experience. I love Halo liquids and my Triton!!! I've learned now to wait about a week or so before giving a review. You never know what the juice may taste like giving it time to "mature".