In order to get good pulse response, you want to avoid reflections.
Ideally, both ends of the cable should be terminated with its characteristic impedance, but in many cases it is enough to just terminate the receiver correctly.
That means, having a 75 Ohm pass-through terminator at the scope input is mandatory. If probing a very low impedance source, a series damper resistor at the source end might be a good idea too - the value depends on the actual source impedance at higher frequencies and you would have to try out several values <75 Ohm to achieve best signal fidelity.
In general, impedance matching is not an issue for wavelengths greater than 10 times the electrical cable length. From memory, I think the actual (physical) length of RG59 is about 2/3 the electrical length.