Not usually no, Apple's idea of multitasking is to expose a very specific limited set of functions that the application can ask (politely) the phone to do, so it's not like the app can sit there computing pi and drain your battery.
But they do use some small level of resources, and the phone will automagically close them when it thinks it needs to.
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Uncertainty is an uncomfortable position.
But certainty is an absurd one.
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