I think knowing whether it was a true shoulder dystocia or not is very important.
I have seen a true shoulder dystocia - baby's head turned a dark purple, sucked back in, would not restitute and needed resucitation. It was also CAUSED by the birth practitioner trying to hurry the birth by pulling and turning the baby thereby causing the shoulder to become impacted. Scary!
I have also seen sticky shoulders where the baby did restitute, but just took some strong pushing to birth the shoulders (and sometimes belly and legs!!). Not shoulder dystocia, but some practitioners panic and label it as such. I also know some who, once the head is born, want the rest of the baby to hurry out, even without a contraction, and will call it shoulder dystocia if it doesn't.
Shoulder dystocia, in my mind is defined as baby's head sucking back in, becoming suffused with blood, usually takes more than one manuever to dislodge shoulders and, chances are, needs resuscitation after birth.
That all aside, even if you are certain you had a true shoulder dystocia, you need to prepare for your baby's birth just as carefully and thoughtfully as you would anyway. Does your partner want that role? Do you and he want to take full responsibility regardless of what may or may not happen?
Educate yourselves as to how to recognize the signs and what to do - just like with a hemorrage or resucitation or.....and then talk about it, pray on it, sit with it.
I really believe that if you listen with your gut, your baby will lead the way.