The Taylor finish is certainly tougher than that of many other guitars, like my Martin HD28. However, I would install a pick guard unless you play strictly fingerpicking - classical style - with no "pinky planting" and you do not do any flat pick, slap or tap-type strumming.
Clear pickguard material, like that used for flamenco guitars can be cut to any shape and is virtually invisible. I installed it on both sides of the sound hole on my new Taylor Gs-5 12 so no matter what I do, there is no danger of tearing up the finish. I finger pick, flat pick, slap strum, etc so for me the pick guard material is mandatory. But I'd suggest that even if you believe you won't ever scratch the instrument, some sort of pick guard is good insurance. The Taylor finish is tougher than most but it is by no means scratch or dent proof.