If you are putting a cold metal pan on a cold stovetop, there should not be a problem. I'd be concerned about a cold non-metal dish such as a corning ware or pyrex, etc. on the stovetop. The thremal shock as the burners heat up may cause breakage. I don't think it's an issue for the stovetop either way.
I wouldn't put a cold dish on a hot stovetop. That could cause you problems with the stovetop glass.
"If you want to make an apple pie from scratch, you must first create the universe." -Carl Sagan