In BSP MVC, the Controller is the only object that can be accessed via URL or Navigation. Therefore to include any view within your application, this must be done via a controller. The controller also houses all of your event handeling.
Now how to relate the two. There doesn't have to be a one-to-one relation. You can have a single controller that can call many different views. Controllers can also call sub-controllers. Views in turn can nest controllers within them via the extension element <bsp:call>. I suggest that you study some of the SAP example MVC applications to get a feel of the many different possible ways that the applications can flow.
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