Yes ice as it melts can cause scratches on the car as it melts and the ice then slides off the car the melting ice can leave scratches on your cars paint.
Also if you try to scrape ice off the car itself and not just the windshield then you could end up scratching your cars paint.
I only remove ice off the windshield and then if I need to get into a frozen car door I use a hair dryer to melt the ice and then slowly work on getting the door open.
I have a remote starter so I can start my car using the remote and as it's warming up to get the ice off the windshield I work to get the door unfrozen.
I always have my heater setting on in the car and set to defrost so I can start the car before I leave the house and it gets to warming up then.
I wish I had a garage to put the car in but don't.
Hope to one day as then I could keep ice off the car as well as snow.