Where I live, if baby doesn't have a follow up appt within the first couple weeks, CPS can get involved, so from that aspect I would take baby just to be safe.
They'll tell you how soon baby needs to see pediatrician upon discharge. We had to go within a few days to check jaundice and see how BF was going. Don't limit your checks with the pediatrician. That care is really important. Ask your pediatrician's office about their hygiene practices in advance though and see the doc's office that you're most comfortable with. My first pediatrician was really close by so we could go straight there & back which was convenient during flu season when my first was born. Measles is dangerous. I wish more people would make better vaccination decisions based on the AAP& CDC's recommendations.
If you are planning on vaccinating your child then yes you should take baby to the Dr when they suggest. I believe that's 2 weeks old.
If you are breastfeeding baby gets your immunity. Another bonus to breastfeeding!! :-)