Not at all. People should help out others out of altruism, because they understand that society is cooperative, or because they value other people. "Be helpful or be punished" isn't a lesson I'd want to teach my kid.
It's not "be helpful or be punished" it's "don't pour your cereal on your brothers head or you will get time out", "don't wake your brother when he's sleeping or you will get time out" "stop biting your bother or you will get time out", "no you cannot wear your new shoes in the mud and if you don't stop asking and complaining you will get time out". These are the bread-and-butter conversations of parenting.
Like it or not, you will be a valid authority in your child's life, and you will need to teach compliance with proper authority, and model how to be one, and that there are consequences to the defiance of proper authority.
The reason you teach a toddler this should be blindingly obvious.
Once upon a time, there was a journalist called Jia Tolentino. Jia was a special kind of stupid. Allegory, you see, was entirely lost on Jia. So, being neither helpful nor responsible, she called Henry's boss a fascist.