So, like, did the rules change recently? Are we supposed to tip a "barista" after they pour us a cup of coffee? Starbucks doesn't do that, but what about non-Starbucks places?
I'd say it depends on their 'job'.
If they're a Starbucks employee, making a normal hourly wage, no tip's required.
If, however, it's a 'waitstaff', making 1-2 dollars an hour plus tips that's serving your drink then, yes, they should be tipped.
When in doubt, ask about their job.
I waited tables for years and would guess that you'd offend no one by clarifying.