You need to periodically do this...however, the iPad iOS 4.2.1 is not a true multi-tasking system, in the sense that we've generally come to understand, so these 'background' apps don't really contribute that much to the power consumption of the iPad.
The iPad's 'multi-tasking' is more like a 'task switcher', in that it allows you to quickly switch in and switch out an app and have it remember the context so that it re-enters in more-or-less the same state that it left.
Having said that, iOS does allow some background task activity - for example file uploads and downloads, music playing.
I'm not an expert on this by any means (as you'll have guessed, I'm sure) so I'm certain other more experienced Forum members will have more detailed and credible technical input here.
Tim
Scotland