The short answer is yes. Even in 2017 you should be escaping strings in PHP. PHP does not do it by itself because not every developer will want to develop a product / functionality that needs to escape user input (for whatever that reason may be).
If you are echoing user inputted data to a webpage, you should use the function htmlspecialchars() to stop potential malicious coding from executing upon being read by your browser.
When you are retrieving data from a client, you can also use the FILTER_INPUT functions to validate incoming data to validate that the clients data is actually the data you want (e.g checking that no one has bypassed your client side validation and has entered Illegal characters into the data)
From my experience these are two great functions that can be used to 1:) escape output to a client and 2:) prevent the chance of malicious code being stored/processed on your server.