Not at all. As long as your local Craigslist handyman doesn’t lose his transmission driving up your driveway, the cost is almost non-existent. You’ll have leftover material to replace a paver on the rare occasion that one breaks. Other than that, sweep them like you would any patio.
Every 3-5 years you may want to re-seal your pavers as you did at the beginning. Even then, you’re talking less than $1.00 per square foot.