It means there is a leak in your pipes or heater. the leak has to be fixed, and the pipes have to be bled. If the pipes are banging you can also have them more properly secured. The $65 trip could save you $1000’s in costs if the pipes burst.
yes you can fix it yourself, you will need the little radiator key that came with the radiators when they were fitted.
Turn the nut with the key at the top left or right of the radiator, when you first open it you will here the air hissing out, after afew seconds this will turn to water, you can tighten it up now, go all around the house doing that, this will stop the banging noises
I don’t know why that would be a problem. When you open a water valve the air will naturally bleed out from the system. You might be refering to something like Water hammering. This is due to water that due to inertial charges back to it’s source when the valve is turned off. It makes a loud sound and the best way to counteract this situation is install a water hammer suppressor/arrester.