Yes, ideally, if you don’t have a heart condition, you should want your heart rate to go up. A lot. If you find walking for an hour boring, you should try high intensity interval training. Takes a few minutes and is probably a lot better for your heart and for staying in shape. You don’t need any equipment for this either. You can do it indoors.
Walking is probably mostly relevant for people with severe physical handicaps. Like being so obese it actually does make your heartrate go way up. Or for people who don’t want to do anything exhausting. Better than doing nothing, I guess.