You should resist the urge to think of numpy arrays as having rows and columns, but instead consider them as having dimensions and shape. This is an important point which differentiates np.array and np.matrix:
x = np.array([1, 2, 3])
print(x.ndim, x.shape) # 1 (3,)
y = np.matrix([1, 2, 3])
print(y.ndim, y.shape) # 2 (1, 3)
An n-D array can only use n integer(s) to represent its shape. Therefore, a 1-D array only uses 1 integer to specify its shape.
In practice, combining calculations between 1-D and 2-D arrays is not a problem for numpy, and syntactically clean since @ matrix operation was introduced in Python 3.5. Therefore, there is rarely a need to resort to np.matrix in order to satisfy the urge to see expected row and column counts.
In the rare instances where 2 dimensions are required, you can still use numpy.array with some manipulation:
a = np.array([1, 2, 3])[:, None] # equivalent to np.array([[1], [2], [3]])
print(a.ndim, a.shape) # 2 (3, 1)
b = np.array([[1, 2, 3]]) # equivalent to np.array([1, 2, 3])[:, None].T
print(b.ndim, b.shape) # 2 (1, 3)