Yes there actually is
You can use your entity manager to get a Proxy Reference instead of an actual Entity which just gives you a proxy object representing the Entity without actually fetching it from the database.
Check the code below for an example
$collarId = 12;
// First param is the Entity classname, second is the Entity id
$collar = $entityManager->getReference('Collar', $collarId);
$dog = new Dog();
$dog->setCollar($colar);
$entityManager->persist($dog);
$entityManager->flush();