If it's routine to get this then you should consider it. The staff do have to manage this part of the order (along with the other courses) and do clean it up. It also might prevent you from actually ordering other things. It sounds like you're pretty considerate. Just tip appropriately.

People around you take note of your actions. I worked at a restaurant where one of the guests was a friend of the owners. They commonly took care of his bill when he came in alone. He was very keen to pull out the wallet to make the show of offering to pay his meal, but he was equally quick to put it away once the owners said they would take care of it. Once they noticed this, they didn't take so kindly to being overly generous with him.

Again though, it sounds like you're a considerate person so just do what you feel is appropriate.