No, that's not true. The goal of a co-dependent relationship is to try to fulfill your partner's every fantasy, want and need. And that never works out well.
The goal of a healthy relationship is to keep communication open and to work to constantly respect each other's wants and needs and work together to maximize your collective happiness and fulfillment. That means that some desires of one may go unfulfilled based on conflicting desires of the other, and nobody needs to feel bad or guilty about that.