No but they can if the system is improperly configured or the system is changed to be badly configured so a better answer is "maybe". Just because they can't today doesn't mean they won't be able to tomorrow or next week (see below).
Exposing the SIP port to the world will quickly have them knocking on your door and twisting the door nob to see if it is locked, all night, all day, everyday, forever... consuming bandwidth and system resources.
If you enable the “Responsive” firewall features then attackers (identified by connection attempts with the wrong credentials) get shunned (ignored, packets dropped) after a couple of login attempts for a configurable length of time which sounds good but with a recent exploit they were somehow able to turn off the firewall remotely and start exploiting systems so it's something you have to manage carefully. Be careful when configuring the responsive firewall as it's not uncommon for someone to lock themselves out of their own system.
Consider installing a Session Border Controller (SBC) for more security.