1. You don't NEED to prime for the paint to work over other paint, as long as it's the same type.
2. You MAY need to prime with white primer if the blue paint is translucent. Look on the can for some sort of translucency index (they have them sometimes) If it's a blue like ms pac man, that's probably pretty opaque, so there's probably not much to worry about.
3. If you are using spray paint, use many light coats, rather than one strong one. When I did my defender stencils, I used about 15 very, very light coats and built the color up over time, rather than one heavy spray. It helped that I had one of those spraypaint pistol grip add-ons. They're cheap, but effective.