I think you're looking for page 54 of the
dealer manual from the Shimano site. I haven't done the specific adjustment you're looking at, but the dealer manual says nothing about requiring a brake bleed after performing this, so I'd think it probably won't be a problem.
Btw, I'd never done a brake bleed before until the last two weekends. Since it was new to me I procrastinated and hesitated a little out of some suspicion that there might be some voodoo or whatever involved, but I finally just jumped in and did it, and it turned out to be pretty simple and straightforward. Now that the unknown-ness of it has been dispelled to me, I wouldn't hesitate to do it again if necessary.