If you installed cupsys, you can see if it's already started by typing ps aux | grep cups at a command line.
Or open a web browser and type localhost:631 which should prompt you for the root name and password (or your username and password if you added yourself to the "lpadmin" group).
But yes, the /etc/init.d directory is where you start/stop/restart services. So to start it, you would type as root /etc/init.d/cupsys start.
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