No, it's a 'side effect' of the high dissipation. Running hot (certainly cycling from room temperature to hot) reduces reliability, so you want as much heatsinking as possible. Unfortunately heatsink performance increases with temperature so they are always going to get pretty warm.
The high temperature has another 'awkward' effect in that device characteristics shift with temperature. You normally need to adjust output stage standing current after it has reached full operating temperature, then wait until any temperature change resulting from the current adjustment and removing the lid has stabilized, then check/adjust again. It can take a while.
If you really want Class-A then valves are good. Radiative cooling is far more efficient than convection cooling, but that's a whole other tangent!