No. As you say, you can cook a mushroom inadequately, or you can cook a mushroom covered (not allowing a volatile compound to evaporate) and it may still be poisonous, but I can't think of a situation where you cook something (mushroom or otherwise) and render it poisonous via cooking.

You can certainly cook a mushroom and ruin it, as far as making it unpalatable goes, and I've done that with 2/3 of the mushroom cookery attempts I've tried.