This was the old theory. But we now know it wasn’t true. AlphaGo showed us it’s perfectly OK to invade 3-3 under a star point as early as move 6. (See recent games of Ke Jie 9p, for example.)
I agree with your larger point though. You definitely need to weigh your profit against opponent’s profit. It’s all about the balance of power. It’s ok to be surrounded if you get enough territory in return and you don’t fall too far behind in the balance of influence on the board. Of course, what is the proper balance is a skill that’s developed through experience. 