It's more about getting heat away from the boiler's heat exchanger than helping the pump, but yes, there should either always be a bypass radiator or the boiler should be fitted with an auto-bypass valve. If you have a combi boiler then there's a good chance it may already have an internal bypass valve - check the manufacturer's installation guide.
Not quite sure what you mean about already having two motorised zones. If you're fitting HR92s then these should be fitted to all except the bypass rad (if you need one), and the motorised valves for all heating zones should be kept permanently open. If you want to control these zones as a whole rather than individual radiators with HR92s, each zone will need a BDR91 relay box and a temperature sensor, whether that be the evohome controller or a T87RF.