Do I still need to send an invoice?

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I have PayPal Here which is a little device they send you that attaches to your headphone port on an iPhone.

It allows me to take credit card payments on the go, since I am running a mobile auto detailing business. So I just go to peoples houses detailing their cars. And at the end, I go to their door and accept payment right there with their credit cards.

My question is: Is it still necessary for me to create an invoice as well as send one to them? Or are the receipts that are sent through email by PayPal good enough? I'm asking this in regards to tax purposes, or record keeping purposes. Is it necessary to still create an invoice even though they already paid? Is an invoice still necessary even though I already have receipts of payment?

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