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Definitely! Sing to songs in the car, because you're stretching your range.  

I was in choir for a couple years as a soprano, and can't even sing those notes anymore - practice definitely improves your range and ability to match notes if you focus on it.

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If you're not singing properly, then you're going to damage your voice rather than make it better, in the long run.

I'd advise you to seek professional vocal tuition if you want to train and get better with your voice.

Whilst I would say, from personal experiance, practising a lot helps even without vocal tuition, but it'll hurt your voice.

If you *are* getting vocal tuition, and are singing like how your teacher has told you to sing, then I'm sure practising singer songs will make the world of difference.