There are many ways to clean records, a simple google search will yield 100s of results and yes, all records need to be cleaned well, especially when you first receive them (mostly if they are pre-used). There are complex manual methods, automated methods and even the very simple damp soft non-fibrous cloth approach. The method of preference is usually user-specific and relates broadly to (1) listening expectations of user (2) storage, (3) user indulgence
(1) listening expectations - some record listeners are obsessed with pure sound, vinyl vs analog sound comparisons and are easily irritated by ticks and pops/surface noise. These users tend to spend hours cleaning their records with various methods, some even going to the extent of having a separate rig and vacuum cleaner for the purpose. On the other hand, some are quite happy to clean the record to an extent wherein it sounds good and playing the record does not clog the stylus. They are not obsessed with analog mixing and don't mind a few ticks and pops. Simpler and more practical methods work well for this category of users.
(2) storage - very important factor, however well you clean your record, if you used the old soiled inner sleeve for storage, you will have to repeat the process all over again. Yes, those old inner sleeves are great and nostalgic but it is always good to use a new inner sleeve after a proper clean (and yes, some records are just slipped into the jacket without inner sleeves. Always use an inner sleeve and while inserting the inner sleeve with record, into the jacket, keep the opening of the inner sleeve pointing upward
(3) user indulgence - many don't have the patience or the time to keep cleaning their records. I have known of many to drop out of the vinyl listening hobby just because they cannot be bothered to clean their records. Playing a record or a reel tape is different from playing a cd. It is more like an art form with a process attached. An easy way to do this is to perform a good clean-up at the first instance, ensure clean and dust-free storage (yes, open shelves with records stored like in a book library, look nice but can accumulate dust) and thereafter superficially clean the record before playing.