Pretty simple really,
If I pull an array from a database and then use a value from that array, say an auto increment field, do I have to use a prepared statement on that query or will I be safe using a normal sql query as the value cannot change of the variable and I know it will not be a sql injection attack. Same goes for is the variable is set in a session?
You should be safe, if you know that the database is from the trusted source. And that in 99% is.
If you are connecting to foreign (not own) database, which might have some dangerous text in it, only in that case, yes, you must escape the input, otherwise no.