If we care to. It's one of the things I love about the Magisterium's teaching, that knowing your Bible backward and forward, which is a Protestant value, isn't required to be a saint. If we do care to understand the Scripture, which is perfectly fine and noble even, you're right that our Magisterium helps us to understand it, when we submit to the teaching authority (because it is our Lord's own teaching authority) and expertise (since there are no better teachers of any subject in all the world) of the Holy See. They present for us the big picture, in which Sacred Scripture is but a piece.
It's like we're offered a gift. All we have to do is receive it, or open it, or otherwise acknowledge it.
It wouldn't hurt to thank the Lord for it either. In one way, it is our Father giving us "our daily bread."
Amen.