No.  In fact, some applications need to load at startup.  Almost all security based applications, such as Repelit, or anti-virus programs need to be launched automatically
at startup.

There are some good reasons for programs to load at startup.  There are even more good reasons why they should not.  Ever stop to consider how did you get so many icons in the system tray and why your computer runs so much slower?  How many of those programs are really needed, and how many are really safe? 

Devices load their “bells and whistles” at startup.  Some users like the “bells and whistles” some users are annoyed by them.  This is a personal preference.  However, as more and more processes and “bells and whistles” are added they will eventually drag a system down as much as badware.  Do you really want the “bells and whistles” at the cost of slowing your entire computer down and at the risk of launching unknown badware at startup?