If you never exceed 70mph, you will probably get away without additional balancing. But the faster you go, the more vibration you will get.
Ideally you should check the wheel alone (no tyre fitted, but with valve etc in place) for balance and mark the heaviest point on the rim. This is typically where the valve is, but this is by no means always the case. Then fit the tyre so the painted mark (which marks the tyre's lightest balance point) coincides with the heavy mark on the rim. This should ensure that the whole assembly has the best possible starting point for balancing.
Then again, I understand that some manufacturers no longer put the coloured dots on the tyres - presumably because modern manufacturing techniques mean the tyre is pretty much balanced from the factory?