As @Binsk says, every object in Godot is already a class. When you make a new object, and attach a script, you will see at the top is says "extends Node" or whatever, that is inheritance (it takes all the logic and parameters from Node, and then you can add additional functionality on top).
If you are starting out, it is best to experiment and get things working in a "hacked together" kind of way, because it is easier to change things and learn with that mindset. After you understand the API and the editor, you can start refactoring to get the architecture you like.
For example, hacking together a quick prototype it will be easier to iterate and change thing. After the prototype is working, you can start a new project and port over the stuff that works into a better design. And as you get more experienced, you'll be able to use better designs from the start.