When you get genital herpes does it always burn to urinate?

Not always. Frequently there are no symptoms. There are many strains of herpes virus which can affect the genitalia and symptoms may differ from strain to strain as well as from subject to subject.
No. Genital herpes is a viral infection of the genitalia. It can cause some discomfort and pressure in the genitalia but in many cases, does not causes burning with urination.