The short answer to this question is emphatically, yes! We are called to join our hearts, minds, voices, and gifts together as one local body in Jesus Christ.  This requires the identification of, even the counting of, individuals among a local church, so people are known by name and shepherded thoughtfully and consistently by church leaders.  Taking membership classes and making formal vows publicly, enables a local church to be on the "same page" in terms of it profession and confession of faith in Christ.  Formal membership classes also foster the preaching and teaching of the Gospel with consistency and innovation.  As one author writes, “innovation and consistency:  this captures what it means to follow Jesus in his Kingdom mission.  If we speak and act with consistency, our kingdom mission will be shaped by our understanding of the substance and the trajectory of Jesus’ own mission.  If we speak and act with innovation, we will carry out our task creatively and imaginatively in the new cultural and historical situations to which God lead us.”  The Drama of Scripture, Finding Our place in the Biblical Story, Craig Bartholomew & Michael Goheen, pg.200.

Below is a link to South Shore Baptist Church and their pastor's teaching on church membership which is both biblical and helpful for our consideration.