Yes, that is true. The closed curve that starts at the center of your cube, goes straight up through the horizontal side and keeps going up to reach the center again, cannot be contracted to a point.
The most concrete way to see this may be by considering the torus to be a quotient of $\mathbb R^3$. Every curve in the torus, together with one point in $\mathbb R^3$ that maps to the curve's starting point, determines exactly one curve in $\mathbb R^3$, and does so continuously. The curve I describe above corresponds to a curve in $\mathbb R^3$ that goes between different representative points of the center, and it it were homotopic to a point, the end point would need to move continuously from one representative of the center to the other, while still being a representative all the way, which is absurd.