No, because if you choose to be selfless that's your business, however weak and pathetic that makes you. But to them, it's better than the state doing it.
I don't recall that they think it's wrong, always, to help others. It's the issue of doing so out of duty or the fear of force.
On the other hand, I remember the essay that broke me of my teen liking of Rand(that and seeing what THE ROMANTIC MANIFESTO did to my writing--Rand and art are two tastes that taste grey together), in, I think, VIRTUE OF SELFISHNESS, having to do with the question: would you risk your life to save a drowning man? Rather than answer it, she engaged in several pages of sophistry to avoid the question and finally decided the question wasn't worth answering. Her usual tactic when hit with something outside her System To Explain All.