My personal opinion is there is nothing wrong with using a pick. I'll use a pick when it requires one.
I use fingers 98% of the time. Finger style is something that will come to you with practice.
There are many different styles of playing, and if you stick with playing bass you will learn new things as the years go by.
Experiment with your fingers. try as many different things as you can. Find a teacher, they can work one on one with you and show you the ropes.
Watch and learn from other players, observe their styles, see what they do. If you have an opportunity to jam with bass players better than yourself, go for it!
Good luck and welcome aboard the bass express!
Joe....