MariaDB Galera Cluster without HAProxy, MYSQL Proxy, etc

I'm looking to deploy a MariaDB galera cluster across three servers. However, I've noticed that the documentation often references HAProxy or the like. Does this not cause a single point of failure situation? I guess the question I'm asking is - Do I need any sort of load-balancing software to use a MariaDB cluster? Or could I have support for the cluster built-in to the app? Apologies for the English.