Yes, they do.
If the party taks its way past a Sphynx, answering its riddles and befriending it, instead of engaging in combat with it (a social encounter) that counts.
And the party will often expend resources on exploration and social encounters. Plenty of spells deal with exploration (teleport, plane shift, fly, levitate, speak with animals, divination spells, passwall, spider climb etc etc) and social (charm person) encounters.
The goal of the party should be to conserve resources. Not to Nova and then fall back and Long rest.