Just pump the pedal with the engine running before moving the Jeep, you'll be fine...no need to bleed the brakes unless you cracked open the system by loosening a line or bleeder screw which may introduce air into the hydraulic system. The reason you need to pump the pedal is the gap between the pads and the rotor surface are too great to be taken up with one depression of the pedal while operating. The pumping loads fluid into the caliper piston chamber.
If the fluid in the master looks dirty and grungy you could flush it. It is a post/thread of its' own though.
On rear brakes there are springs that return the brake shoes to the at rest or disengaged position.
Disc brakes use three things to return the pads to the at rest position.
1. Releasing the brake pedal reduces fluid pressure from the back of the piston in the caliper.
2. The caliper dust seal and piston hydraulic seal stretch when the brakes are applied, with the pedal released they return to their normal position and pull the pads away from the rotor.
3. Rotor run-out. The rotor have a ever so slight natural warp to them and as they spin the high points push the pads away from the rotor.
Tom