For the most part, yes. Exploration is the main focus of Starfleet. Being the flagship of the Federation, however, the Enterprise has some experience with first contact with several species, and less friendly encounters with other people who aren't necessarily as interested in peace and coexistence as we are.

[ No, not that kind of exploration whatsoever. That was how things were almost a millennia ago, but not anymore, thankfully so.

Both his eyebrows raise at the question, but still he smiles, thinking that Kirigan either didn't get the joke, or he's just joking himself. ]

Not at all. I use the word 'pest' very fondly, in this case.