Can it be done, yes, should it be done, no. Have I done it, many times... Doing it you risk the chance of damaging the gears gears in the transmission, something the is WAY MORE expensive than a $200 clutch.
Bottom line, don't worry about it, a little slipping to take off is not going to harm the clutch, you'll be more likely to cause clutch problems if you ride the clutch, meaning letting you foot rest on the clutch pedal.