It depends on what you mean when you say “extra.” If you’re heading up to the bar with five minutes left of happy hour and you order a ton of beers that you plan to nurse over the course of the next few hours, yes, it’s rude. But, if you head up to the bar and order two — one for now, and one for after you finish the first — I don’t see a problem. As long as you’re tipping for both beers, the only one who really loses out is whoever gets stuck with a warm beer.
Some bartenders will disagree with me here, but ordering one additional beer as happy hour comes to the close is relatively harmless. Chances are, you’ll stick around the bar long enough to slip into the full-price timeframe, making it more likely you’ll order another beer or snack at full price instead of ducking out the second happy hour is up.