Like Jim says, no. You have to get out past GP toward Illilouette Creek. Here's a map.
https://www.nps.gov/yose/planyourvisit/ ... lheads.pdfThe colored arrowheads off the trailheads (#3) show where restrictions are and end.They consider 4-mile>Panorama>Happy Isles a day hike. If you want to camp, definitely make your way down to Illilouette Creek for good sites, water, and no citation if you make sure to get a wilderness permit. I do believe that they'll allow you to begin at the bottom of 4-mile for a GP>Illilouette permit, but check.