I changed the brake pads on my Ford Edge and never have to bleed the lines. What I do is take off the outer brake pad and then used crowbar between the rotor and caliper to force the caliper piston to fully open. Then change the pads. Works like a charm.
There's always a chance that you're pushing a small amount of air when compressing the caliper piston. Especially when pads we're really worn down and the piston was extended. Even if you just let it gravity bleed you're ensuring no air was accidentally introduced. It's 5mins extra to make sure all is good to go.
How did you push the piston back ?
I unscrew the brake fluid top (do not remove), then when the pad is still in the holder use a big screwdriver and push it all the way back. Done this some 20 times so far on various cars. You have air in the brakes or a bad master cylinder. Do not drive it that way.... way serious ! !
They make single person brake bleeders, or a vacuum pump to get the air out of the caliper.