Depends if it's thematically appropriate. There aren't many equivalent terms in English, and the honorifics that we do have aren't as varied or nuanced as Japanese ones. If a series is heavily steeped in Japanese culture, then it's completely okay, because it's appropriate for the setting and subject matter. And example of this is Persona 4; they left the honorifics in tact, and it doesn't take away from the game at all. However, a series where it is inappropriate should not have honorifics. A series like Baccano, which takes place in prohibition-era America, would suffer from including Japanese honorifics. In addition, a series that is sort of culturally neutral should try to avoid honorifics, though it's excusable for ones that have no really English equivalent, i.e. "senpai".
EDIT: Also, honorifics are sometimes used in characterization. If they're important to the work, then they should be kept.
EDIT: Also, honorifics are sometimes used in characterization. If they're important to the work, then they should be kept.