Yes & no. You have one chance to deliver the baby & begin allowing them to be independent of your body. If you want a dependent child, carry them all the time & give them the idea that is the way it must be. If you want a child that begins the trial & errors of self discovery & self reliance, let them be alone when appropriate & find ways to self comfort.
No. Infants love to be held. It helps re-create the fetal environment where they were warm and cozy. We rarely worry about spoiling an infant by holding them, so hold them as much as you'd like. Remember though, infants might like to be held all day long. It's also ok to place your infant in a safe place when you need to get things done, even if they want to be held.