No, you don't need to reboot after deploying the Agent, whatever the method. The only reboot involved would be to get the pcAnywhere mirror driver working after installing the pcAnywhere plug-in, but it's not compulsory - you'll just get very slow screen feedback until you do reboot.
There's an auto push policy under Settings > All Settings > Agents/Plug-ins > Symantec Management Agent > Symantec Management Agent install (from memory).