Why do Arthur and Eames have to arrange kicks in their respective dream levels? If all the characters want to return to reality, shouldn't a death in the first dream level (Yusuf's) suffice?
TL;DR - Yes, but...
I'll just quote Wikipedia here, since it gives a fairly concise answer to this question. Note that I haven't watched the movie in a few months, so if this is wrong feel free to correct me.
While death in a dream would, under normal circumstances, cause the dreamer to wake up, the sedatives used to stabilize the dreams would not allow that. Thus, death during the mission will result in entering "Limbo", an expanse of infinite raw subconscious from which it is very difficult to escape.
Edit - In Limbo itself, death does allow you to wake up. It seems that either the same rules regarding the sedative don't apply, or the sedative is wearing off, when they kill themselves in Limbo.