Theoretically, yes, because bleeding gas from the bore takes energy to operate the bolt mechanism away from propelling the projectile.
In practical application, no, because it takes such a small volume of gas to operate the bolt, and there is so much residual pressure inside the bore when the bullet leaves the bore (that's what makes the gun go BANG). For all practical purposes, there is no discernible loss of power due to bleeding off pressure to operate the bolt assembly.
I have seen numerous tests trying to determine power loss from autoloaders, and all come to the same conclusion. Generally, velocity loss is less than 1%, well within the variation between two different lots of ammo. When you graph the deviation between the control and the test rifles, you will find considerable overlap of the two graphs.