Probably a dumb question, but here it goes-

Escape velocity is the velocity needed to escape the moon/planet's gravity without any further propulsion, right?

A stone thrown upwards would slowly lose its velocity and then start falling back because there's no engine to keep it going.

But an "ideal spherical bird" could keep going at a constant velocity of 20m/s to escape whatever planet it wants to leave, right?

Does the escape velocity really matter here? (Assuming that all other issues like lack of air are ignored)