You need to use one of
these methods to enter RCM. Personally, I like the paperclip method (but installing AutoRCM is usually the second thing I do). You only need to use RCM to launch CFW each time you coldboot your system. If you only ever keep your Switch in sleep mode when you're not using it, you will very rarely need to enter RCM.
You can also install AutoRCM to coldboot into RCM automatically each time you power on the system after it's turned off completely. It's relatively safe and very convenient. It also prevents your fuses from being burnt, preserving the ability to downgrade later if you so choose. However, it means you should definitely keep your Switch in sleep mode when you're not using it.