They didn't need to recover, but shuttling through the warships, breaking through obstacles, and killing enemies would all affect their formation. If their formation fell apart, the power of the arrow formation would be greatly reduced, and they would undoubtedly be in danger, even suffering massive casualties.
Zhao Yun was even aware that the Human race had a weak constitution. It was not easy to nurture so many high-level soldiers. Every one of them was extremely precious. Naturally, they could not afford to suffer losses just because of a moment of pleasure. Thus, they planned to rest for a while before carrying on with their assault.
Perhaps it was because the Lord of Dark's minions were extremely powerful and had very high origins, killing one of them gave three to four times more EXP than killing a monster of the same level.