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If you had a brushless dc motor and kept it running but changing the power input every few seconds/minutes would it wear it out?

I ask because for a drone like aircraft I'm designing, making turns requires change in rpm and input power. If it helps, the motors are large and 167kv bldc motor with 100cc.

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No, changes in speed should have little effect. The only wearing part of a brushless motor is the bearings, which are generally rated for a certain number of rotations and a certain load (and are reasonably easy to replace).

With IC engines there are complex issues piston and bore temperature, expansion, lubrication and heat cycling - but electric motors are much simpler.

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