Some of the doors that say a key is required cannot be picked actually do have a key to be found somewhere. But most of them are locked because they are areas where there is a quest object and they will be unlocked once you receive the quest and the appropriate instructions to go there. There are also quite a few doors that have that same message but won't open under any circumstances, even if you use the console unlock command, as there is just nothing there, they might be from unfinished quests.