First, forget about Rail Europe. They do not list all trains, and they mark up tickets they do sell - sometimes substantially. Unless you have a very specific reason to use them, avoid them.
You do not need to buy tickets in advance, provided 1) that you won't mind if some trains are sold out and 2) you don't mind paying top price (€99 one way!). Since you want a same day return trip, you will probably want an early train to Brussels and a late train to Paris - exactly the ones likely to sell out. You will also be able to commit to trains (the cheapest tickets aren't refundable or exchangeable; if you don't take the exact train you booked, your ticket is now scrap paper).
To see fares and options, go directly to the Thalys website: https://www.thalys.com/de/en/. Book tickets directly here; you should get an e-ticket e-mailed to you. Fares can be as low as €29 each way if you book far enough ahead. Today, you can book up to April 18 - and already, some of the cheapest tickets are sold out! So, don't delay; prices on these trains never go down, only up.