The answer is a very definite no.
The reason is that the size of something is almost always relative: when you ask whether the mean residual is "small," you have to have some sense of small compared to what.
For example, consider these data:
set.seed(17)
x <- (-5):5 / 5
y <- 10^(-8)*(x + rnorm(length(x)))
fit <- lm(y ~ x)
mean(residuals(fit))
The output is 3.763354e-26, which is one billionth the size of your mean residual. By comparison, your mean residual is enormous. That's why you have no right to claim your mean residual is small, at least not without further investigation.
A reasonable measure of size for your comparison is the typical size of a residual:
mean(abs(residuals(fit))
For these sample data, the mean absolute residual is 4.942933e-09. Compared to this, the mean residual is only 3.763354e-26 / 4.942933e-09 = about $10^{-17}$ as big. That's like comparing the diameter of a proton to the size of a city; it's a tiny number indeed. (If you're not yet comfortable with the "e", or scientific, notation, you can find some introductions online, such as at http://www.nyu.edu/pages/mathmol/textbook/scinot.html.)
Do a similar calculation for your own data to find out whether the mean residual is small.
Your second question is about using R. Those questions are better suited for the StackOverflow site.