Not necessarily, and in fact, probably unlikely. There is some research that shows that disturbing a mole could, in theory, lead to cancer. https://www.realclearscience.com/journal_club/2015/09/08/could_scratched_moles_lead_to_cancer.html
It still says that you should avoid damaging moles as a precautionary measure, so I wouldn't be overly concerned absent other changes in the mole's appearance.