Can I just check how you found someone on your network - was this someone that appeared on your router as connected to your WiFi? Or had someone been tampering with settings?
If you don't do file sharing or have any need for using a network other than sharing internet, then yes I would probably disable network discovery and file sharing (as there's no point in having it in your case). You'll still be able to use the WiFi printer like this.
That said, it won't do much to protect your PCs (it will remove one attack vector though). You primarily want to stop anyone connecting to your network in the first place. I'd make sure that you've changed the router default password and also have a network SSID created with WPA2-PSK (AES) encryption (not WEP, WPA, Mixed or Open, as all of these are insecure). Make sure you've picked a good, strong WiFi password that is reasonably long, not dictionary based and contains mixed characters.