Most likely, yes. With 3s you won't have a lot of power and end up using a lot of throttle for basic manuverability and stability. With 4s you'll use much less throttle to stay in the air and (most likely) be more efficient. I can't say for sure because I'm not sure what exact motors you're using. Regardless, you can check it out for youself using http://www.ecalc.ch.