Considering that the surrounding soil outside of the planting hole is also probably compacted (simply from regular use or heavy  machinery during the home's construction, even if years ago), your planting process probably won't be a large hindrance to root development from the foot compaction. For the future, though, yes -- pressing with hands and using water to settle soil into any voids is the ideal way to avoid compacting the soil during/after planting. You shouldn't have to worry about this tree, and if you use organic (biodegradable) mulch around its base, as that degrades into compost over time and is replenished, that organic matter will work its way into the soil below and help to resist compaction as soil life naturally "tills" it into the surrounding soil.

Miri