Clear answer: No.
There is a persistent legend that a bitch should have gone through pregnancy, birth and puppyhood at least once in her life in order to have a "normal" development and to avoid behavioural problems, but this is… just a legend. This legend has no basis in fact. In particular, it does not prevent later false pregnancies.
"Of course animals have the instinct to reproduce and thus to preserve their own species, preferably of course to reproduce themselves as often as possible. The explicit desire to be allowed to be a mother once in a lifetime, however, probably results from a strongly humanised way of looking at a bitch."
Quelle: Ein Mal im Hundeleben Welpen haben [your dog, Hundemagazin aus Österreich]