Well.................... you never have to reset the idle.
But it will help you see if the cleaning helped since you cut down a little on the adative strategy having to realize what happened and relearn.
There are a couple ways to set the idle. My personal preference (which quite a few guys DONT use) is to have the hot, no-load-idle set without the IAC even plugged in. Now even if the IAC takes a flaming poo poo, the car idles. This gives me a solid known baseline.
How yours reacts will depend if it was set IAC-dependant or not.
if you all of the sudden get an uncontrollable idle speed of 2k rpm's like I did when I cleaned mine, get a new one from pep boys (borg warner part).
Scott