Yes, it many ways it can be very helpful to contact your admissions counselor. Should you have specific questions that you cannot find answers to on their website or have any particular details about your impending application that you'd like to talk about further, starting with your admissions counselor is a great way to go. Reaching out like this is especially impactful if the college tracks demonstrated interest - in other words, the more they hear from you and have contact with you, the more viable you can become as an applicant.
Of course, you don't want to bombard admissions counselors with emails and calls that are just for the sake of reaching out - you never want to waste their time in an effort to have more "touches". Hope that helps!