Liquid Rubber is generally fine when applied in one coat at a 20 mil film (42 sq ft per gallon) thickness and will still withstand extremes. That is the beauty of the EPDM polymer. A second coat would provide insurance where exposures are likely to be very extreme. Radical extremes in temperature where constant surface temperatures reach 250°F or above or -20°F or below. Warning, though, if the second coat is applied at the wrong time, it may create cracking, fissures or bubbling. The second coat should be applied either when the first coat is still tacky or when that first coat has had a chance to fully cure (up to 3 months.)
The roof must be thoroughly cleaned, and allowed to dry thoroughly. This is a critical step to ensure a successful coating application. Be careful not to damage the lap seams. Care should be taken when pressure washing not to disturb the integrity of the underlying roof membrane particularly where there are adhered seams. Refer to the specific coating manufacturer you are using for their specific requirements for roof preparation.