To a certain degree yes. I think the type of pet determines the stress help.
I do not think a pet porcupine, skunk, or snake produces a stress free situation. I mean you can't pet the porcupine, a scent gland removed from a skunk does not make it odor free, a snake, now come on ,when that python is slithering around your neck your relaxed knowing any moment he could have a muscle cramp and tighten up.
Now a dog, a cat, a bunny, a chicken yes I can see these relieving stress. A dog just seems to know when you are stressed the most, a cat purring but not smelling is stress easement, a bunny just likes to cuddle and helps stress hop out of you, and seeing your chickens walk around your yard pecking at whatever provides a calming effect on the aurora you are sharing with them.