Nope, it only happens when something outside changed Firefox's files (in this case when Ubuntu swapped files because dpkg updated Firefox). This never happens* in Windows and macOS (it might nag, but you can definitely dismiss it). It seems that johnchristopher has a suggestion to disable auto-updates on a specific application in Debian and Ubuntu (haven't tested it though): https://news.ycombinator.com/item?id=33202052
* At least using their official installers. I'm specifically excluding using Chocolatey/brew/other loose-file update mechanism or your bonkers enterprise solution insists on using loose files and not rely on *.msi/*.app/*.pkg.