mfpdev app register command will register your application with MobileFirst Server. Without registering your application with the server, the application on the mobile device will fail to connect to server with an error 'application does not exist'.
If you do not want to use mfpdev app register command, you can register your application manually at MFP Operations console.
For more details , refer : Registering an application
Update : If you are using command mfpdev app preview to preview your web resources with the Mobile Browser Simulator, Security checks are not run on the server-side and security challenges are not sent to the client that runs in Mobile Browser Simulator.
MobileFirst Development Server includes a confidential client "test" that has an unlimited allowed scope ("*"). By default mfpdev app preview uses this confidential client.
NOTE : command mfpdev app preview is meant for preview the UI , OAuth protocol is not fully supported
For more details, refer :Previewing Cordova web resources with the Mobile Browser Simulator