Is the correct answer and best practice.
Of course you can just ignore all this but why not cycle with good technique? For example, you can cycle with a low cadence all the time, but it's not good practice: it increases wear on one's knees and is harder work (so less efficient).
A chain works best if the front chainwheel and rear sprocket is directly in line. Cross chaining at the extreme results in an angle of 3 degrees (11 speed) and so the links under tension (ie along the top) are having to cope with this and in particular each link as it comes off the sprocket and again as it goes onto the chainwheel. This causes both wear and friction and thus reduced chain durability and efficiency. Try using this
gear calculator and adjust the 'Chain angle' box which will illustrate the effect of keeping the angle down.