No. In fact, some of the most successful security exploits on the Internet have been accomplished because a person (or program) can throw any text it likes at your server.
If you have deep-content pages interesting enough to bookmark,
you should welcome the user, not thwart him/her. You can't control people's browers anyway. The best you can do anyway is synthesize temporary URIs that become meaningless when used at a later time.
I understand that you may need some context, however. Where possible, I recommend using wrapper services so as to minimize the manual maintenance of this aspect. That is, use container-based authorization rather than coded-in login logic, filters to detect lack of defined resources and create them (or redirect to a page where they can be created) and so forth.
As a last resort, custom
JSP tags/servlet frontend logic can be used, but the first time you forget to include one on a newly created page, you've blown a hole in your system.