Do I need to clean the gravel in my aquarium?

I used to pive suction the gravel, and it stirred up moderate amounts of debris. However, I recently bought 5 gl shrimp to handle detritus and leftover food. So I was wondering if I needed to bother cleaning the gravel as often, because it clouds the water, and I might accidentally bury or suck up the gl shrimp. I do 20% water changes biweekly and will continue to do that.