Not necessarily. Asbestos-containing material that is intact, in good condition, and unlikely to be disturbed may sometimes be safely managed in place.
The primary concern with asbestos is the potential release of fibers into the air. Removing an intact material can sometimes create more disturbance than leaving it alone.
However, damaged, deteriorated, friable, or frequently disturbed asbestos-containing materials may warrant professional evaluation.
If you know asbestos is present, keep records identifying its location and inform contractors before future work begins. If renovation or demolition is planned later, the material should be evaluated before it is disturbed.