No, you can print hundreds of QR labels without any corresponding objects.
At first use of the QR code, you can select if the QR shall be used to create a new object based on a template, connect it to an existing object or create an object from scratch.
This is suitable for scenarios like equipment service: The technician can have a bunch of labels in the toolbox and apply a label onto the serviced equipment. Then scan the QR and “initiate” the object.
At the next scan, the objects webpage will appear!