According to what I found, the answer is 'No'. You can turn off certain 'quick-call' features, but by law you can't turn off the ability (in the US at least).
According to United States federal law (47 CFR § 9.10), every cellular phone sold in the U.S. must be able to call 911, even if the calling phone is not subscribed to the closest available wireless network. That means even phones linked to the wrong carrier in the region or those with no SIM card can dial 911 and reach a Public Safety Answering Point (PSAP), such as a local emergency call center.
Apple Engineers stated in a webinar I attended that the Settings and Phone apps are unblockable and unhideable, even on supervised devices. But of course there is no or recording or slide deck available…