IMO you never need to secondary unless you are bulk aging for multiple months. Keep it in the primary, less risk of infection, etc.
If you want clear beer, cold crash for a week before you bottle to reduce the sediment. If you can't cold crash, don't worry about it. The sediment (and yeast) will settle to the bottom of the bottle or keg.
On future batches try increasing your boils size closer to a full volume boil and reducing top off water to improve your beer.