Depends on one's time frame.
In the entire 4 billion year history of the earth, Ice ages are very rare and it's very unusual to have any ice caps at all.
However, within a long-term ice age cycle, the actual ice ages are more common and longer than the interglacials.
And that brings me to my second point: if we're 500 years past the end of the average interglacial, then we have no business trying to reduce CO2 outputs, that is, if we want to keep the planet suitable for large human populations.