Yes, before Mac OS 8, menu bar menus required you to click-and hold. (They were "pull down" menus, rather than "drop down" menus.)
That is, in System 7.5 and earlier, if you clicked on, say, the File menu, it would flash briefly and disappear. You had to click-and-hold to see the menu, and drag to make your selection. If you released the button, the menu would disappear.
With the introduction of "sticky" menus in Mac OS 8, menu behavior was changed so that you could click on a menu, and click again to make a selection. This was (and is) the same as the Windows behavior, and it made it a lot easier for Windows users to get used to a Mac.
Click-and-hold for contextual menus was a peculiarity of web browsers. It never worked in the Finder, or Word, or anything like that. It was largely an invention of Netscape, though IE and other browsers copied it on the Mac.
Netscape, at the time, was one of very few Mac applications that supported contextual menus, so it had to invent its own behavior since control-clicking was not established.