^^ Yes, in the epic, Vasishta specifically tells the messengers not to tell Bharat and Shatrughan after their father's demise, lest they get emotional. Actually, in the epic the messengers are sent right after Dashrath's demise, and they are given instructions to tell Bharat that Ayodhya needs them immediately. Meanwhile Bharat has an inauspicious dream about Dashrath and is already feeling restless, but it's only when he returns to Ayodhya and sees his mother in widow's garb does he get to know that Dashrath has passed away. Vasishta tells him to cremate Dashrath and take the throne, but after cremating his father Bharat refuses to take the throne. He disowns Kaikeyi, makes up his mind to bring his Ram bhaiyya back to the kingdom, and leaves for Chitrakoot. At Chitrakoot, Bharat tells Ram, Lakshman, and Sita about Dashrath's demise and all four brothers do his shradha together. Maharaj Janak also comes to Chitrakoot to offer support for the brothers. Then a long debate takes place during which it is decided that Bharat will rule Ayodhya in Ram's name for 14-years, after which Ram must come back and take the throne from him. Bharat returns to Ayodhya, dons sanyasi garb like his brothers, and rules Ayodhya from Nandigram while Shatrughan serves the three mothers.
This is how Ayodhya Kand ends in both Valmiki Ramayan and Ramcharitmanas, with only a few minor differences here and there.