nope although when i was on the farm we had a cow die suddenly after having seen a **** nearby, so we had to have her tested for it. She was negative . However if you come into contact with an animal that has been positive for rabies, you need to have the shots..
I have my horses vaccinated for rabies. Much better to prevent then to risk them getting the disease. ( rabies vaccines are also available for cattle, sheep and goats etc.) Also because I worked as a veterinary technician I was previously vaccinated for rabies myself. However on a normal basis you don't need to be vaccinated or get shots unless you come into contact with a rabid animal.
As for animals with a high probablity of Rabies, Include skunks, fox, coyotes etc. ANY wild predator of that nature is considered high risk. Racoons, Skunks and bats can all be carriers of the disease without always dying from it. Rabies in one disease that is far better to try and prevent through vaccination and critter control then to try and deal with after the fact. If you only have a few animals, I'd recommend spending a little extra money and get them vaccinated.