the short answer, is "no."
every bike i've built, the chain rubs the sidewall. some do it a lot, some just barely.
the chain jumps around like crazy all the time, so it really comes down to how much it rubs.
frame spacing, tire width, sprocket mounting, etc can all affect it.
you can dish the wheel like Venice said, add spacers to your axle, even alter the spacing of the frame itself.
if all it's doing is making your tire dirty, don't worry about it. if it's trying to saw a hole in it, then you need to do something.