I think so. With my 16 mo and my 4yo daughter, I always set the table with a napkin and appropriate utensil for every meal. We model the behavior and encourage the same. But at your child's age I'd let it slide after asking him to try once. That way he understands that he's still expected to participate as a full member of the family and he will rise to the occasion eventually.
Danielle, Nick, Gigi ('08) and William (7/11)