To be on the safe side I would say yes. Some veggies can get stuck in the roofs of their mouths (carrot is a classsic) and having it steam eliminates this. Also some veggies come from the nightshade family (or other families) that are not safe to eat raw. Digesting cooked veggies is generally easier for most animals/people. I've heard that steaming instead of boiling will keep more nutrients - perhaps someone else can validate this?