Yup. Consistent moderate pressure, most recommend about 4-5 lbs or so loaded into your shoulder.
The problem with shooting off a bench (which I do most of the time) is not getting the shot off properly, it's avoiding the "hop" of the rifle because I use bipods. If shooting off a front rest, with a correct style stock and rear bags, you can let the rifle free-recoil with lighter calibers.
Proper form dictates that if you were to draw a straight line between your shoulders, the rifle would intersect that line at exactly ninety degrees.
This means the recoil force is straight back- and not off at an angle to your body. When shooting long range I try to spot my shots when possible so I don't need to bug one of my sons to do it for me...
The design of some benches make it difficult to get straight behind the rifle.
If you can't, and your shoulders aren't square to the rifle, the recoil force kicks the butt of the rifle sideways and slides one way or the other, instead of straight back. This makes it impossible to spot the shot because the rifle has hopped off to side and you can't re-acquire the target quickly enough...