Newborns and infants, no. Crying at that age is nothing more than a response to unpleasant stimulus. When the child cries, something needs to be done ... food/change/blanket/etc.
That does not mean that the response must be frantic or panicked. A couple of minutes of crying, while (initially) tough to take, isn't going to cause any harm. When the cry for the 2am feeding wakes you up, it's OK to take a moment to put on your robe and slippers and wash your hands. Pay attention, you will quickly learn what the various different cries mean and will be able to respond accordingly. You will know when you need to rush.
We found with my daughter that talking to her once we heard the crying ("It's OK kiddo, Dad's coming") would sometimes blunt the intensity of the crying for a moment or two while the response comes. Even infants have good brains and will learn that your voice will be followed by fixing of the problem. It took a few weeks for the pattern to kick in. This was particularly true for the baby startled awake by a strange noise.
As an aside .. some friends have a small dog who took to sleeping in the baby's room, and would come wake them up a few minutes before the baby awoke for the night feeding.