Pretty much. Russia's (that is to say, the states occupying modern Russia at the time,) "first contact" with the west was a series of crusades by Poland, Sweden, and the Teutonic Knights against the 'heretics.' This was followed up by centuries of warfare. Until the 18th century, Russia actually had better relations with the Ottoman Turks than it did with most Christian nations.

Peter the Great brought Russia back into contact with the west, formed an alliance with Poland and generally brought Russia back to the world stage. But two centuries of being treated as an outside in European politics drove Russia back to isolation.

The reasoning behind the friction is probably equal parts the fault of both Russia and the West. Russian politics tends towards the paranoid, although rather justifiably so, considering their history has basically been "constant war with all our neighbors forever." Russian paranoia invokes the west's paranoia, and, of course, Russia is a big scary country with nukes (or, prior to the 20th century, a big scary navy that could threaten British economic interests.)