Daedra don't need to be summond into the world, they can do it on there own, it's the dragon fires that protect Tamriel from Oblivion, not the Daedric princes.
They can do it on their own once they're over here, but someone has to get them over here in the first place. The dragon fires and whatever protects the world now, protects the world from the daedra as well as the daedric princess (which are just the strongest of the daedra anyways). Even when the dragon fires went out, cultists had to open oblivion gates, they didn't just pop up.