used a C-clamp to push the caliper pistons back

I did front and back with new rotors and pads, etc. After the job I could not tell much difference between the old and new brake set up.I was expecting that the foot brake would be more firm and less like it has been which to me is a bit soft / spongy. I didn't open the bleeders at all. I basically opened the bake fluid reservoir while working and used a C-clamp to push the caliper pistons back. I am wondering if I bleed the brakes out if that may help??