I also believe that your pdoc has misled you. It sounds to me like she was trying to convince you to remain on medication.
For some people who experience a manic or depression episode it is a one-time event. Medication or not, they never relapse.
Some people who remain on medication will be helped by it and will never relapse.
Many people who take meds regularly do relapse, some infrequently, others quite often - or constantly experience symptoms, to a certain extent.

it is a very good idea to remain on your prescribed meds because even if you do relapse your meds will likely soften the blow.

After some time, perhaps even years, some people develop a tolerance to medication and need to switch to another med/s.

There are all sorts of possibilities and self-educating is a great idea. Plus, you will learn a great deal from this forum.

I do not think you are ignorant at all! On the contrary, I find it wise that you've come here asking very valid questions. I hope you will stay around.