Maybe. It depends on whether your barrel is responding to stresses that were (or weren't) a result of its manufacture as it heats and cools.
Some believe there is no cold vs hot barrel issue, and that the cold thing that's warming up is the shooter. I can't personally rule this out, but I am also convinced that heat changes the POI.
It may be that the barrel is altering its behavior, and/or it may be that the barrel heat is conducting through the brass case and adding the energy of heat to the latent chemical energy in the propellant (i.e the propellant mass gets heated by the chemical reaction, but if the mass starts at a higher temperature, then it ends at a higher temperature as well, creating more pressure).
And then there is the question about whether there will be only one shot intended in the engagement, or if there will be a course of fire with 10, 20, or more rounds intended.
If I can determine that the barrel has a consistent heat related change in behavior, then I take this as a fact and act accordingly. Same if it doesn't.
So:
If the only important shot is the first, then zero with a cold barrel (good luck with that, since the barrel needs to cool back to its ambient temperature, which will take some time, and will likely vary with the weather).
If the zero POI will be shared between 10, 20, etc., shots, then allow the barrel to warm up before dialing in the zero; and when shooting the Course of Fire, give the barrel a few shots before "going for score". ETA: In this instance, I do not fully chamber the following rounds, but get my sight picture before completely closing the bolt. This cuts heat conduction to the brass significantly. This will not work when shooting rapid fire with a sem; but shooting with a very consistent firing cadence might.
Greg