The word symbol in the context of kicad has a particular meaning. It is an asset that represents a particular parts function for the use in the schematic.
I assume what you understood with that word is what we would call a logo or graphic placeable on both the pcb and schematic.
So in short yes you will need to make a footprint to be able to add it to the PCB.
Further reading regarding this particular topic: What is the difference between footprints and symbols?
And as you are a beginner maybe this might also be of help: Tutorial: Introduction to PCB design with KiCad version 5.1 (Getting Started)