If you need to get an accurate under-load reading then you've been told correctly, but I've never needed that information. It is also one way of checking the charge state of some types of battery (particularly NiCd) but you can use the alternative method below.
If you just want to test battery's voltage, just put the multimeter probes on the battery terminals.
If you want to check if the battery is charged, test as above, then put the battery under load for a few minutes, then test as above again. As long as you do this fairly quickly then a battery which is not charged won't recover in time and you will see a large difference between the two readings.
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