Yes, pedals need to be used a lot because this is not a fixed wing where rotation axis is aligned with fuselage. A 25%-50% pedal (left for american helicopters and right for european ones) has to be used during initial hover and until you get some translation speed. During hover and at low speeds pedal will need to be held all the time and you will need to fight wind during those maneuvers, so pedal adjustments need to take into account wind conditions as more or less pedal compensation will be required depending on wind too. You can see situations where initial hover does not require too much pedal as wind itself can compensate tail movements for instance. And also anytime you increase or decrease collective you will change the main rotor torque so pedals have to be adjusted in accordance as well.
Once you are flying normally with some speed you barely need to touch pedals unless you have strong crosswinds, as that will push you sideways and make nose willing to point to wind, so cyclic can be enough to control helicopter in most cases.
Cheers