It depends. If the Title Screen is the first thing that appears when the game pops up, then YES, I'll skip it. I expect that when the Title Screen is the first thing to appear, there is no other reason for me to want to just listen to the music.
However, if the Title Screen is NOT the first thing to appear, such as 5 seconds of a character walking through some area during gameplay, like a pre-recorded demo, I would be much more tempted to listen to the title screen, because by that time, I have a suspicion that something else will happen if I DONT immediately start the game. The same music can play during like a DEMO, but I need both Visual and Audio stimulation.