Not exactly.
The titanium shield is somewhere between the wheels (where the plastic underside ends, and the battery begins). So if you roll over (with the front of the car) over a high enough curb, and hear the "horrible crunching" sound, you damaged the cosmetic plastic cover under your car. There's no way with a curb you'd be able to get far enough to the shield which is made to withstand the damage.
Here's an example (not my car) of scratches that would happen from hitting a curb head on :
https://article.images.consumerrepo.../news_articles/cars/Tesla-Model-S-shield-lift
I'm positive my car looks similar, as I've rolled over enough things to hear the crunching sound.