Yes, you should drain and rinse. This supposedly makes them less likely to cause the typical GI side effect of beans and I think it helps some.
I have found cooking the beans in a crock pot to be really handy as the length of cooking time is highly variable even for the same types of beans. Also, the beans freeze well - I put them in 2 cup containers, which makes them about the same amount as a 16 oz. can.