Not really.. the closest approximation would be if both sides set their `--transit-helper` to an unusable port like `tcp:localhost:9`. That would effectively remove the relay helpers from the negotiation list, leaving just the direct connection hints.
But you can't currently force that from one side: if you do that, but the other side doesn't override it too, then you'll both include their relay hint in the list.
Note that using the relay doesn't affect the security of the transfer: there's nothing the relay can do to violate your confidentiality (learn what you're sending) or integrity (cause you to receive something other than what the sender intended). The worst the relay can do is to prevent your transfer from happening entirely, or make it go slowly.