Depends how much, but generally no. Considering whole genres have been based on sampling the Amen Break and Funky Drummer, I think it'd be silly to rule it out entirely.
'Stealing' has been thrown around to signify the Western concept of copyright, and thats what it all boils down to. Everyone 'steals' in some way from the earlier musicians, thats just the way things are when there are a limited number of 'acceptable' sounds in the Western scales/mods.
I think in more recent times its come down to the use of samples vs the amount sampled, like whether taking a song and putting a beat behind it is the same thing as taking completely unrelated sounds and making a new song.