To appreciate something means to be fully aware of the level of its value. Therefore, I do believe we should suffer in order to appreciate life. It's not thrilling; and many things in life have tried to desensitize the masses to recognizing life's value, but I think it's a part of of the cycle.
A spoiled child has difficulty appreciating hard work. A spouse who's always gotten their way in their marriage can cease to appreciate their partner for who she/he is. A little pain goes a long way, oddly enough.