Completely taking out any shot with the clock under 6 seconds, "You have to take that shot" should never ever apply to a point guard. Or I should say the teams "point" player, as some teams will always cycle the ball through a certain player whether it's a forward, center or guard. Their main focus should be getting teammates involved, drawing the D, etc.
I would like to say I generally cringe when I see Rajon squaring up for a shot, however I understand it. Number 1 reason he shoots by the way is because Doc wants him to. He knows how important it is to try and keep that defender close. Does Doc think he'll just start randomly shooting lights out and nobody will ever play off him? NO. It's part of the development. It's for the years down the road, when they don't have Paul, Ray and KG. He also knows how competitive Rajon is and that he's gonna keep working on that on the off season and will be even better next year and the year after and so on.
Secondly, I've noticed, when his teammates aren't working around him he shoots more. If he notices he's not getting the movement he wants he'll dribble up the next possession quickly to see if anyone is moving and shoot. Kinda trying to wake them up. It's well documented he doesn't care about scoring. But he knows Paul and Ray do and when they see him taking "their" shots they know it's time to get open. Not saying they are selfish, everyone on the team knows it's better when anyone but Rondo is taking jumpers at this point. I'm saying it's more of a "wake up and move guys"
I'd also like to add that you shouldn't be comparing taking jumpers to when he drives to the hoop. That has nothing to do with if the opposite guard is playing off him. It has to do with where the big men are. He'll take his man to the hoop all game long if it's open like he did game 2. But if the center and pf are cheating over to the paint he's not going in there. He doesn't have the size or leaping ability to go over or through two bigs consistently. And sadly yes, there are times you can tell he's not going for contact because of FT's, gogo jab step. I personally hope he works on a bank shot too this off season. They are so much easier to make from 15 feet in then straight jumpers.