ABSOLUTELY!!!
You MUST properly torque the lugnuts with a real torque wrench-NOT a gun with a "torque stick" gizmo. If you do not you can easily suffer the famous 'warped' rotor problem. Never ever use an impact gun except to remove the nuts.
The correct torque is 80 foot pounds. We use a Craftsman click type wrench.

Since you are replacing the rotors-make sure you use the stock retaining screws or get new ones-makes things better. ANother thing-make sure the hub surface is as clean as possible. With new rotors you need to properly bed the pads (I'm assuming new ones). There are a number of threads on doing it, but we like to do a series of stops starting with 3 from 40 to 0 gently wait a little for them to cool down, do it again 2 more times and then increase the speed until you are stopping from 60 to 0. Just go easy and allow time between sets. Other people do it different ways-this one is the way my Honda tech told me and it does work.