Hello~Your doctor will probably call you either way within the following week. Sometimes they will have you make a face-to-face appointment, but that is not common anymore. If you haven't heard from him/her in a week, then I would call and ask them if the doctor has seen the results and if so, do they want you to come in or can they send the results to you either via email or snail mail.
In the U.S., you should have a "portal' account.
You might have been able to see your sono report in that way, yesterday.
Otherwise, if you really want to know ASAP, I'd call every day and ask them to send it. Personally, I'd ask for your doc's own go-between-nurse, then nicely ask them to read it over the phone. It's worth a shot and the nurse might then feel prompted to go ask the doc what to tell you - and call you back right away.
Generally: yes, if it looks benign, you shouldn't need a visit. But if it is concerning, they'll maybe instead tell you that you need to come in to that doc or maybe set up an oncologist referral. That doesn't necessarily mean cancer. It would be to schedule a followup FNA biopsy or something else.