Finishing neck using circular needle

The instructions say “with right side facing and using circular needle, knit 31 sts from back st holder, pick up 14 sts along left neck edge, knit 25 sts from front st holder, pick up 14 sts along right neck edge, place marker: 84 sts.”

When I go to knit the 31 sts from back st holder do I first need to transfer the sts from the holder to a straight needle, then knit?

Thanks to you all who can offer any advise.

You can, but I usually just slip them on the circ and then pick up all the others.