I would suggest not, unless you need both arcpy and arcgis. Loading unnecessary modules into an IDE or script should be avoided for both performance and maintainability reasons. That said, arcgis loads arcpy for its own internal uses if arcpy is available, which is partially why loading arcgis takes so long relative to other packages.
>>> import sys
>>> sys.modules.keys() & {'arcpy', 'arcgis'}
set()
>>> import arcgis
>>> sys.modules.keys() & {'arcpy', 'arcgis'}
{'arcgis', 'arcpy'}
>>>