Do I grab the plate from the servers hands??

Whenever I’m out to eat in a large group of people and the server needs to reach over other people’s plate to place mine I can’t help but want to grab the plate because it seems like such an awkward reach. One time I was out for breakfast and the server accidentally spilled hot coffee on my partner and I trying to reach another plate so I can’t help but cringe every time a server is trying to reach my spot. Is it rude or bad etiquette grab the plate from the server? Edit: I mean like when the server is mid reach, not grab the plate off the tray.