Depends on the surface. If you spray it on bathroom or kitchen counters, no rinsing necessary. If you are spraying it on the floor, you might want to wipe with a wet towel first and then a dry one to avoid slipping.
Considering, I used to spray commercial cleaners such as Fantastik and Clorox on those surfaces and just wipe without rinsing... God knows what kinds of chemicals I left behind that would touch our food and skin. These simple solutions are not toxic... But if you want to rinse, sure that would work too ...