Yes. It requires a real, valid domain name. And using webroot or standalone mode on pfSense requires that the domain name point to your WAN IP address and that your firewall expose port 80 and/or 443 (depending on the mode) to the world, which is not good.
Get a real domain name, pick one of the providers that offers a DNS update method supported by the ACME package (there is a list in the certificate options), and then use that to update. You don't have to publicly expose anything on your firewall for DNS updates.