There really are no absolutes in golf. It certainly depends on the hole, your position on the hole coming into the green, the position of the flag, etc., but I think I am with Harmonious on this one. It's nice to at least develop a shot you are comfortable laying up to.
Although it may be preferable to be closer to the green , don't forget we're not just talking about the shot into the green, we're talking about the accuracy of the shot before it. A shot where you hit it 120 to lay up is going to be more likely in a better position than a shot of even 160. Unless you are talking about getting something close enough to chip , I think it makes sense to at least have a distance you are comfortable with. It doesn't have to be 90 yards, it can be 50. My range has a 50 yard marker, so I have developed a comfort level with landing the ball close to that distance. If there is any elevation to the green or a bunker guarding it, I will try to get to 50 because I know I can hit a flop from that distance much easier than say 25 yards. It's nice to at least have that in the bag.
More than anything, however, having a comfortable distance forces me to think about the hole. Its similar to the line on the ball for putting; its not so much that I need the line while hitting the putt, but it forces me to pay attention to the break and commit to a point for the putt. Same thing with laying up; it forces me to think about the hole and the flag position rather than just "hit and hope."