You don't need to close them or worry about it after closing an app like Settings; it'll reclaim the memory it needs as you use other apps. You can verify this by opening settings app, going into wi-fi section (or wherever), quick-switch to another app, then go back to settings, note that it is still on the wi-fi screen, now go about your business and use the phone normally for a while. Go back to Settings app and notice that it is no longer in that saved location. The OS has reclaimed memory it needed from leaving that app in saved state.