Eliminate query on Custom metadata type?

No, you must access them with a SOQL statement. However, SOQL queries against custom metadata do not increase the SOQL queries governor limit counter nor the SOQL query rows governor limit counter, so you can query them as frequently as you like.

Just An Update: Salesforce is coming up with new methods to retrieve custom metadata type records in a similar way custom setting records are retrieved. Yes, Without SOQL query. and It's happening in the Spring 21' release.

Below is a glimpse of functionality from Spring 21' pre-release org.