Yes, do your zero from the most stable condition you can.
If you use bags or a shooting rest at front and bag at the back, give thought to the fact that your barrel is not free floated. Pressure on your forestock can alter your point of impact..
Try not to push down on the bag or rest. Just let the rifle lightly rest and try to use the exact same location as where you will place your support hand when shooting. For precision shooting with your scope and to take maximum advantage of that trigger, consider adding a free float rail. I did with the SSA-E and it made a difference. Not just in group size, but in POI shift.
With a regular handguard, I was seeing as much as 4" shift at 100 yards, depending on how I either held the rifle or set it in the bags or front rest. Using a bipod had a completely different POI, close to 6" away, depending on whether it was preloaded and by how much pressure. A free float rail eliminates all of this variation.