Short answer is "No."

I used to worry about air pressure a lot more than I do today. In the 80's I thought that my road bike tires had to be 120 psi and I topped them up before every ride. Through the years I gradually cut back on air pressure, eventually inflating my road tires to 90 psi front and 100 psi rear. I still topped them up before every ride. I don't keep records of stuff like that but during that whole period I generally rode with the same group of folks and didn't notice any subjective speed or performance difference. I did definitely notice a road comfort difference after I switched to lower tire air pressures.

I'm riding fatter tire recumbents today and I've gotten lazy. I pump my tires up to 75 psi (or so) and give them a squeeze test with my hand before every ride. When they leak down to about 50 psi (or so** I top them back up. That usually takes around 2 or 3 weeks.