Your goal isn’t likely to translate, but to enjoy native materials natively. In that case, if vocalizing helps, I would recommend it. Furthermore, I would take it a step further.
When you see 犬, you should be thinking いぬ, but what is an 犬? Is it just a kanji for いぬ, or is it a concept that encompasses all 4-legged canines with tails, of various sizes and colors, that bark, growl, whine, tear up pillows, drool all over the place, beg shamelessly when you’re eating something they want, and freak out when they see a squirrel?
To get to native association, you have to associate all of the aspects encompassing 犬 with its reading. Your abstract, instantaneous understanding of the concept of 犬 covers so much more than the vocabulary word for it. Words are just summarizations of concepts. Translating one word to another is an inefficient way to conceptualize it.
For instance, try describing a color, let’s say orange, in your native language to another speaker of your language that is blind. You can’t describe it using another color as a reference. To another sighted person we might say that orange is a color in-between red and yellow, but those descriptions are meaningless to a person that has never seen. If you can’t fully convey a concept via translation to another person (translating visual images to a verbal description) in your native language, you’re going to lose even more meaning translating it from one language to another language (or, one could argue, sensory experiences are each their own language, in which case they would be equal in difficulty to translate to another spoken language).
As for associating kanji with their readings at all if merely learning the vocabulary word without its reading would suffice for reading, you’ll be lacking in understanding when people describe their names. For instance, when spelling their name, a person might say their name is 山田, with the characters やま for mountain and た for rice field. This is a good example because it is rendaku’d, and rendaku would likely confuse the hell out of you if you hadn’t learned readings.