I'm not sure that's an absolute. I think it would be more reasonable to consider this particular situation on it's own merits. Two hours between trucks is unreasonable, but that in itself doesn't guarantee a "cold joint". Much depends on the mix, it's set time, whether or not it contained water reducer or set retarder-- all things to consider. I good finisher can minimize the risk of a cold joint by periodically breaking up the edge of the concrete to prevent set while waiting for the truck. A proper "rough" edge left on the concrete can provide additional "mechanical" bonding if the bond from hydration is impaired. Reading the details in penny79's subsequent post, it sounds as though the subgrade was properly impaired and there is reinforcing mesh in the slab; all good reason not to remove it. If the finish is deficient, ask the contractor to remedy that. He may agree and seek recourse from the ready mix producer for the poor delivery service. Also, consider control joint saw cuts that would incorporate the cold joint into the cut. As a last resort, taking a couple of 4" core samples through the cold joint will confirm the concrete's integrity.
Bob