This is a really good question. I've wondered this before. I think it's entirely too relative to situation at this point to be able to answer in a yes or no, black and white with no gray kind of way.
Take the Shitzu for example, or the pug. These animals have been bred and inbred for centuries. There are no wild pugs. No Shitzu would survive in the wild. We have created them as domestic animals. We must co-exist and take care of them (it is really a codependency as they take care of many of our needs as well)
And then, I tend to my Bearded Dragon and think. I've done my best to give her a suitable home. A 70 Gallon terrarium with climbing rocks and basking spots and delicious insects and fresh fruits and greens. But how satisfied can a dragon actually be. I know that with all the caviar and fresh strawberries I could eat. A Jacuzzi and fine linen... I still would resent being cooped up in a room my entire life.
In my defense... all of my exotic critters are rescue animals... taken from those who wanted an exotic pet and then couldn't find the time or compassion to actually take care of it.