Well, yes and no.
The ultimate goal is to avoid getting killed by the police; the secondary goal is to avoid getting pulled out of your car, cuffed, and forced to sit on the curb while they rifle (pun!) through your car.
When I got pulled over last time, my weapon was cased, behind my seat. I just left it there, and signed for my citation. However, if the weapon is in plain view it is your best interst to conceal it from the police before he gets to your window.
I think the whole "Put your hands on the steering wheel and wiggle your fingers so as to show the officer you are unarmed and respectful of his desire for safety" goes a long way towards putting him at ease and avoiding any ramp up of conflict.
So yes, I guess I am advising you to break the law. I never thought of it in such harsh terms, but my opinion is that this is the best and safest way. Of course, if the officer asks if you have a weapon, don't lie, but in my experience it will never, ever come to that. I have never been asked if I have a gun in my car, nor has anyone I know.
Have you seen the video (available on youtube) of the lawyer instructing people to never say anything to the police? If a police officer were to ask you if you have a gun in your car, I can see 3 possible responses:
1) Lie and say "No".
2) Tell the truth and say "Yes".
3) Say "I need to speak to my attorney".
The correct responses (to all questions) is #3. The lawyer does an excellent job of demonstrating how fine, upstanding, law-abiding, honest citizens, in an effort to assist an officer in the pursuit of his duties, end up screwing themselves 6 ways to Sunday.