The wording is ambiguous, but the BNF later in the spec [1] agrees with your interpretation. Valid version numbers are three numbers separated by dots, followed by either a minus and dot-separated pre-release versions; or a plus and dot-separated build identifiers.
No, that is a misreading. The "MAY" indicates that the prerelease identifier itself is optional. However, if you do append one, it must include a leading hyphen.
MAY has not the same meaning as MUST. MAY is optional, MUST is mandatory.
> https://semver.org/#spec-item-9