Maybe you got to have them inserted, yes, but they can be empty. (My HP OfficeJet 6500A Plus also prints with empty color cartridges. I just replaced them today after weeks of emptyness).
I had Lexmark before, it was never a problem! unbelievable, the thing is that I never used the colors, they dried out! You have to buy all of them just to print in black!
[1] https://w2.eff.org/Privacy/printers/index.php