No, you are never required to accept a RELAY. You always have the option to say no thanks.
How do I earn money and how much can I make as a driver on the Relay Network?
You earn money by accepting runs carriers post to hire drivers for. Carriers post pay rates for each run and you can choose to accept or negotiate a higher rate . You can accept runs and be hired by multiple carriers to ensure you always have work. The total of how much you can make is in your control and depends on how often you want to work.
Who can be a driver on the Relay Network?
Any active CDL holder can sign up to be a driver on Relay Network.