First off, since you've posted this in the World Coins section, I assume you're talking about actual pennies like they use in Britain or like they used to use in Australia, and not the nickname for US and Canadian one cent coins.
Second, one must ask what you mean by "rare". As austrokiwi said, "RARE!" is a word bandied about on
ebay by sellers so much it has virtually lost it's meaning. The "rarity" of a coin, in the true meaning of the word, is an indication of how easy it is to acquire one. If there are dozens of sellers on
ebay selling hundreds of examples of a certain coin, then that coin can't really be all that "rare".
The only factors that contribute to rarity are the original number produced and the proportion of that number that still survive and are available. Rarity is not directly proportional to value; the value of any object is determined by both supply and demand, and "rarity" only addresses the supply side of the equation. If you have a coin that's extremely rare but nobody else wants one, it's not going to be valuable.
In other words, while most valuable coins are indeed rare, not every rare coin is valuable.
Don't say "infinitely" when you mean "very"; otherwise, you'll have no word left when you want to talk about something really infinite. - C. S. Lewis