Most domains are set to renew automatically by default.
To enable or disable automatic renewal for a domain, you would first login to your client area.
Then navigate to "Domains" > "My Domains" and you will see a list of your domain names. Click the dropdown arrow next to the wrench for the active domain name you wish to change the renewal settings for. Click on "Auto-Renewal Status". This will tell you if automatic renewal is currently enabled or disabled for the domain.
You may turn automatic renewal on or off for each domain as you wish. Domains with auto-renewal disabled will not generate an invoice for renewal.