My take: Yes and no. The more we could supply ourselves, the better--but it's also a global market. Sucking out US resources to inefficiently send them far away is a long term loser. Moreover, the price of oil is determined by global supply--being a marginal supplier isn't going to change that. So, I think we should develop lots of produceible resources, but not drain them in a hurry.
Also a reasonable position which I’d be glad to embrace. One of the downsides of not producing to reasonable capacity, we seem to agree that producing to fulfill our own needs is quite possible, is that the technology to assess our resources doesn’t develop. And eliminating our need for imports over a decade or two, would likely drive down prices significantly.