That's not usually true. Most cameras will still attempt to refocus between frames even when shooting in continuous mode. All Canon DSLRs in their default configuration will do this. You can change this behavior, but it requires assigning AF activation to the * button via custom function settings.
No, setting the AF focus control to "one shot" is sufficient, at least if we can believe the manual for the 1D MkII and assume that the 20D and 1D MkII behave similarly.
And as far as I've been able to determine, they do behave similarly; I've used both in situations where I'd expect the camera to refocus between frames if I used AI servo mode, but both cameras did not refocus between frames in one shot mode.
Note that this is while keeping the shutter button fully depressed for continuous shooting.
AI servo may, however, be the default configuration; I've forgotten.