No. Most configurations only use 1 positive and 1 negative terminal from the amp.
Using two terminals is handy when you have a pre-fabricated enclosure with 2 separate terminals. Having 2 sets of terminals lets you avoid adding awkward jumpers and splices to achieve the correct wiring configuration.
Don't strain your brain; use the wiring guide. You just pick the coil impedance, the number of subs, and the ohm load, and it will give you an easy-to-follow diagram for your wiring situation.