Nope, in fact the service manual shows how to pull the pads, and replace them without doing anything else. You only have to remove the small pad retaining bolt (the one with the flush head and the pin that goes through the 'eyes' of both pads) and then pull the pads up and out. Push back the pistons, install new pads and install the retaining pins.
You can clean around the pistons with the calipers still on the bike but not very well. I choose to remove the calipers and actually split the calipers (only takes 30 seconds) and thoroughly clean the calipers and pistons before pushing them back. In fact I usually pop the pistons out of the calipers to clean them. Just my opinion but I believe whenever a brake seal fails on a caliper it was because debris was forced under that seal when pads were changed. Similar thing with wheel bearings: the bearings don't fail, the seals fail and the dirt and water that then gets to the bearing destroys it.
Brian
So, you don't have to remove the calipers to do the pads? Clean around the pistons while still attached?