No, but the US should have carefully measured (and probably rejected) any interest from Estonia, Latvia, Lithuania, Georgia, and Ukraine. Accession into NATO requires unanimous endorsement from all extant members. The most powerful member of the alliance saying "No" sends an even stronger signal.
And then we should have offered military training, maybe even subsidized armament sales (aka "foreign aid") to encourage a strong self-defense capability....but NO formalized or even informal assurances of mutual defense, and no US assets based in their borders. I think that would have been a smart compromise: help these countries make themselves too costly to invade, without making Russia more paranoid and without growing our "surface area" of treaty risks.