No, PCI DSS Requirement 9.5 does not require devices to be fixed in place or physically attached to a surface. Requirement 9.5 and its three sub-requirements address three areas of device security:

Note that Requirement 9.5 applies only to deployed POI devices used in card-present transactions (that is, a payment card form factor such as a card that is swiped, tapped, or dipped).

These requirements do not apply to, but are recommended best practices for: