Absolutely!
Until the bike warms up it is good to go easy on the throttle and be gentle...on the F800 the temperature gauge is a good way to know when the engine is getting up to full operating temperature. I do the same as you and let the bike run for less than a minute before I gently ride off. It also helps the tires to warm up and get ready for action.
If I wash the bike I never put it away wet - water can stay in the radiator, on top of the engine case, under the seat and other hidden places for days or weeks and cause corrosion. I always ride the bike for 10-15 minutes after a wash to blow and cook the water out.
And as I said earlier - I never start the bike and let it idle. If I am not going riding - I don't fire the bike up!