In proper grammar, you only need to write out abbreviations when you're using the last name, such as: Doctor Williams, Mister Jones, and Honarable Roberts. You only use abbreviations when using the full name, such as: Mr. Rob Johnson, Hon. David Jones Smith, and Dr. James Mason.
In formal writing it can be omitted to writing the whole thing out. So Mr., Ms., and Dr. are fine.
Psycho