Yes, children from 6-16 do also need a ticket; they require either a half fare (1/2) ticket or a children day pass, what ever is less costly.
If you do more travels in Switzerland, you could buy the Junior Cards for each of your child. You pay for two Junior Cards, the 3rd and 4th card is free. The Junior Card costs CHF 30 each, is valid a year and with it, children travel for free if accompanied by one parent at least. The parent must hold a valid ticket. You can buy the Junior Cards at the station only. Junior Travelcard | SBB
If you have in addition the Swiss Half Fare Card for the adults, the Junior Card, or then called Swiss Family Card, comes for free, for all children.
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