Yeah, that is the idea of the infopanel system. To hide it when not in use. Its useful for things like a dps/healer class that won't always need the healing panels or things like the mage portals or informational items.
It's down to pure choice. Some people may be quite happy keeping it on display whilst others buff and forget about it for 10 minutes, switch to the window between fights and see if people need rebuffs
I don't have a paladin myself but the above is how I use healbot/grid plugins for my healy types