No, you don't need to unescape it when displaying it.

This SQL literal string:

    'Gijs in \'t Veld' 

Is a representation for these ASCII bytes/content:

    Gijs in 't Veld

In other words. The backslash will not be stored as part of the string into the database. It's just a hint to the SQL parser that the following single quote should be interpreted as a literal single quote char and not as the end-of-string-character.

From a security perspective there is nothing more "proper" about prepared queries than correctly escaped non-prepared queries.