There is nothing wrong with unnecessarily using Sudo. Sudo (in it's default configuration/purpose on Ubuntu) provides fully elevated privilidges. If a user has been granted those privilidges, they are his to exercise as he wishes (including unnecessarily!). However, using Sudo when it isn't needed raises the stakes. It's an unnecessary risk. A simple typo can become disasterous, and that is why most people avoid using elevated permissions when they aren't needed. However, just because it is common practice to avoid unnecessary Sudo usage, doesn't mean it's wrong to go a different way.
Sudo to your heart's content!
Within the context of AskUbuntu, I'm not at all surprised that you were instructed to avoid unnecessary Sudo usage. The purpose of this site is to allow experts to ask questions and get expert responses, but in reality there are lots of novice users on here, who know just enough to get themselves into trouble. It's common for posters to try and protect these users from themselves. Sudo abuse is common among novice users, because they don't really understand what is or does, nore take the time to learn. Also, this site prides itself on producing quality content. Unnecessary commands are inefficient, and therefore reduce the quality of a post.