What have you replaced, just the rear discs and pads?
If you didn't undo the brake lines there should be no real need to bleed the brakes. After fitting new discs and pads, whether it be front or rears, you will need to pump the pedal several times to get the pistons in the calipers to butt up against the pads. The pedal may go to the floor at first, but after operating the pedal a couple of times, it should be firm and your brakes should feel OK.
If the pedal still doesn't firm up, then bleed the brakes!