Some barrels don't copper foul; most do, but slight copper fouling won't hurt anything. That's not a reason to avoid cleaning, however. There will always be carbon fouling after shooting that should be removed regularly. If a slight copper "wash" remains after cleaning, that's okay.
For a long time, some have preached that bores should be cleaned to bare metal after firing jacketed bullets so as to remove all traces of copper fouling before shooting cast lead alloy bullets. Allegedly, cast bullet accuracy suffers if the copper is not removed. I've yet to see evidence that this is true in handguns or rifles.
There are many copper cleaning agents available. I've tried quite a few, but not all. The ones I've used work, but some are faster than others. Generally, copper fouling in a handgun bore is easier to remove than in a rifle bore unless the bore has been badly neglected.