My photos are already stored in my iCloud. Do I need to do anything else?

Set up photo library Set up and use iCloud Photos - Apple Support

See the section -

Download your photos and videos from iCloud.com

1. On iCloud.com, click Photos.
2. Select the photos and videos that you want to download. 
3. Click and hold the download button  in the upper-right corner of the window. If you want to download your content as it was originally captured or imported, choose Unmodified Original. For JPEG or H.264 format — including edits, and even if it was orginally in HEIF or HEVC format — choose Most Compatible.
4. Click download.

Download photos and videos from your iPhone, iPad, or iPod touch

1. Open the Photos app, then select one or more photos or videos. 
2. Tap the share button .
3. Tap AirDrop, then select the device that you want to share with. Learn more about using AirDrop

For large numbers of photos, learn how to import your photos instead. 

Download photos and videos from your Mac

1. On your Mac, open the Photos app.
2. Select one or more photos or videos. 
3. Drag the content to your desktop, or Control-click and select Share > AirDrop.