question on error during COPY FROM

Hello,

in the documentation I read
https://www.postgresql.org/docs/current/static/sql-copy.html

COPY stops operation at the first error. This should not lead to problems
in the event of a COPY TO, but the target table will already have received
earlier rows in a COPY FROM. These rows will not be visible or accessible,
but they still occupy disk space. This might amount to a considerable
amount of wasted disk space if the failure happened well into a large copy
operation. You might wish to invoke VACUUM to recover the wasted space.

does that mean that I should always execute a VACUUM to recover the wasted
space when an error is triggered or will the auto-vacuum mechanism do the
job by itself ?

Thanks
Jerome