Yes, you ALWAYS lose quality when open a file created with lossy compression (i.e. virtually all flavors of MP3) It may not be very much, but it is unavoidable. That is why it is called "lossy".
HOWEVER, when you RE-compress the track back through another lossy compression process, you run significantly more risk of loss. Because you are applying the lossy compression TWICE and making it much more likely that you will hear artifacts.
I regularly do this kind of editing to non-critical files (like things I listen to on my music player through earbuds, etc.) However it is NEVER advisable to record sound to a LOSSY COMPRESSED format if you intend to use it in a serious project, and ESPECIALLY if the final edit will be distributed through ANY lossy compressed format.
OTOH, note that there are some applications that claim to be able to edit MP3 without decoding and re-encoding it. Google revealed a rather large selection of apps.