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No, and apart from the continuing presence of the dimensional rip that occurred at the end of Bender's Big Score, there are no follow ups to previous events.This is noted in a deleted scene, in which Bender stops the opening sequence when the narrator shows the rip in the universe other than the rest of the 63 plot points "previously on Futurama."
Futurama's executive producer David X. Cohen stated in the audio commentary that the title refers to the phrase for sexual intercourse: "the beast with two backs," popularised by William Shakespeare. Incidentally, this phrase was also referred to in the episode "Spanish Fry" where it was the name of a sex store: "The Beast With Two Bucks." Also, "The Beast" is a reference to Yivo, and the "Billion Backs" is refering to all the humans he captures with his genticles.
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