No, iOS handles all the allocating and de-allocating of memory(RAM)on its own in the back round. Apps have three states, open, suspended and closed. If an app is suspended which is what usually happens when you close an app and it winds up in the tray (when you double tap home) and you need more RAM for you game lets say then ios will automatically make room on the stack for the game by closing the apps that are suspended(in the tray, in the order they were opened, first to last) which will open up more memory for your game. In short don't worry about it. You can close them yourself though if you wish by double tapping the home button then long pressing the app(s) you wish to close then pressing a red and white circle that will appear in the upper left hand corner of the app icon.