Looks like the gasket on my master cylinder gave out and I leaked out a good amount of clutch fluid. No pressure in the clutch. Went and got some DOT 4 and filled it back up and it looks like the pressure is fine on the lever and is disengaging without issue

My question is, do I need to bleed the clutch even if I'm not noticing any issues?

As long as you didn't pump it while it was empty, you'll probably be OK. Bubbles travel to the top, and since thats where your leak was, I doubt any air got into the system.