No, SQL Server optimizes and caches query plans based on the query text at the statement level, so generally, that statement will optimize the same whether in a stored procedure or not.
Now, there are other factors that can affect how that statement will be cached and optimized, and how a stored procedure might exhibit different performance characteristics (and use a different plan) than the same query outside of stored procedure. For example: SET settings. It is beyond the scope of your core question, but Erland's article, Slow in the Application, Fast in SSMS? Understanding Performance Mysteries is a fantastic and enlightening read.