You don't have to, but I'd suggest that you do — it tells google that the page's url has been updated, and it'll redirect anyone with the old url to the new one.
I can't remember off the top of my head if I cover redirects in the SEO course — we do have an individual video available on the RapidWeaver Community site that covers this though: https://rapidweavercommunity.com/tutorials/advanced-topics/simple-htaccess-tips
It's not as scary as you might think
We I'm just giving you best practices — it depends on your site, how well indexed it is, how many links to pages have been shared on social media, etc.
If you're site isn't ranking well in google, and/or it's not been shared a lot, then you might not need to worry about broken links. Keep in mind though, that if you rename a page, the old page on the old url will still exist on your site — RapidWeaver does not delete anything from your server.
This would mean that if an old page on your site shows up in google search results, or if someone has bookmarked it, they would see the old page — not good.
This is why you'll probably want to setup the redirects. (you can often do this via your hosts admin panel).
I can't give you a definite answer — it depends on many things. The best I can tell you is to try and be natural. Don't stuff the url with duplicate, or as many keywords as possible — use duplication if it makes sense, and most importantly describes the page content for your visitor.
A good example I can give you is the RapidWeaver Community site URLs, especially for the video tutorial pages. I have researched and picked a couple of keywords I want to target, such as "RapidWeaver" and "tutorials". If you look at the URLs for an single video, you'll see something like:
which ends up being:
so I have "RapidWeaver" and "tutorials" in there, but not together. But the URL is nice and clean, and describes the content.
If I were to try and cram my keywords in to the url, then I might end up with something like:
That's spammy, and ads no value in describing the content to the visitor. That's not a url I'd want to share with anyone.