Short answer - no. But read on:

Background information on medications here:

https://help.cbp.gov/app/answers/det...-as-needles-or

So, you should check your medications to be sure they are allowed in the US and make appropriate arrangements if they are not allowed.

Customs specific answers can be found here:

https://help.cbp.gov/app/answers/det...-as-needles-or

Note that it does not state medications must be declared and it is not expected. But, be sure to have the medications in original labeled containers and copies of the prescriptions from the doctor, especially if bringing narcotics. The quantity needs to be (a) consistent with personal use and (b) appropriate for the anticipated length of stay.