Do I need to import members of a singleton object into its companion class in Scala?

The Good Book states that:

A class and its companion object can access each other’s private members.

Perhaps naively, I took this as meaning that a class didn't need to explicitly import the members from its companion object. I.e., the following would work:

object Foo {
  def bar = 4
 }

class Foo {
 def foo = bar
}

Well, the reason you're reading this is that it doesn't. So do I really need to declare something like this:

class Foo {
  import Foo._

  def foo = bar
}