Greetings,
If you are referring to the initialization of the entire device with the Init_DA_Brds() function, the answer is no. You are not required to do this every time you execute an application. On the other hand, if you are referring to the initialization of a particular function (analog input, analog output, etc.), some form of initialization is required. My suggestion is that you examine the CVI examples installed in a location similar to the following:
C:\Program Files\National Instruments\MeasurementStudio\CVI\samples\daq
Note: Even through the NI 6014 is not an E Series device, most of the E Series examples found in the above location will work with it.
Good luck with your application.
Spencer S.