When doing some DIY Maintenance on my car awhile back, I picked up a Chilton book from my library and in the section on parking brakes they actually had a chart saying the number of clicks my Toyota should make when pushing the petal down.
For example they say five to nine clicks is safe (going from unset to full max) but any more or less means you need to have it adjusted.
The book also provided a good outline on how to adjust the tension of the brake (which in my car was as simple as tightening a bolt) but I'm sure going to a mechanic wouldn't be too expensive if it's something you'd rather have a pro handle (which is probably a good idea when dealing with breaks)
But overall, my point is that emergency brakes should be able to be pulled up without destroying them, but the key is making sure that the number of clicks matches what your car maker says is the ideal range.