Executing normal EPP commands will not result in any pending actions, therefore, there is no need for a <poll/> to be performed. However, the Registry may initiate certain actions that will trigger a message to be sent to the registrar, and all registrars are expected to regularly <poll/> all their messages to stay updated.
Please note that only the first message in the queue can be polled with EPP. This means that polling can only be performed by a single thread, and all messages must be acknowledged.