Not necessarily...
US import cheaper parts and resources for factories to put together into a final product. This product sells for more and generates higher revenue than the cost of parts (basic business rules). 
US consumers also benefit from a greater variety of lower cost goods that are manufactured elsewhere -- shoes, clothes, food products. In addition, money made from trade gets funneled back into the US economy as other countries also buy US products (trade is a 2-way street).

Raising tariffs would not only make raw materials more expensive to attain, meaning that US businesses and consumers absorb this cost, but can also lead to inefficient use of production and resources. GDP is tied to productivity. If productivity goes down, so does US' GDP. This is a tried and true economic model.

Furthermore, if Trump renegotiates NAFTA and raises tariffs, what makes you think that other countries will not do the same to US imports?