No, rapid prompts are something else. That means that the VM owner hears faster prompts when navigating the settings.
I just spent an hour on the phone with Verizon Customer Support troubleshooting this problem and researching it on the internet while I do so. In the end, I got the confirmation that we can not disable this mandatory voice mail tutorial after our recorded announcement. The reason is pretty obvious - the carriers make hundreds of millions of dollars off the extra minutes that we spend listening to their class every time we leave a voice mail.