If I live in New Jersey but work and get paid by a company in Pennsylvania do I need to make my income taxable by Pennsylvania?

No.  If you live in NJ and work in PA, your income will only be taxed by NJ due to PA and Nj having a reciprocity agreement. 

You would only need to file a PA tax return if you had PA taxes withheld.  Otherwise, there is no need to file a PA return.