No! Imagine an outside caller coming in and being able to listen to conversations in your office if he calls when you're away from your desk and you don't hear the warning beep. Or a fired employee calls and curses at everyone. Not a good idea!
Some options: you could use a headset, there is an ACD auto-answer flag that does that. Or if you absolutely have to do it in certain circumstances, there's a way you could burn some hardware to make it happen (SL port and LS port)...let me know if you need info.