No I wouldn't. My parents didn't when I was pregnant with any of mine. In fact, when my waters broke at 22 weeks with ds2 they were a godsend. They came over every day before dh went to work, my mum took the kids to school and my mum cleaned and cooked, she looked after ds1 after preschool too.
I don't know what I would have done without them as it took such a pressure off me, I was on bedrest and was terrified of losing the baby. Dh picked up the slack when he got in from work every night and at the weekends.
They even carried on coming over for a while after ds2 was born (after dh went back to work from his 2 weeks paternity leave).
They are amazing.