Yes.
His entire character arc with Shanks is that he doesn't understand why Shanks would sacrifice his Arm for Luffy.
He also sees that in Zoro, even asking Mihawk -his sworn rival- himself to teach him, setting aside his Pride for his Captain.
But after 2 years of letting Zoro & Perona live in his Castle, he even advises Perona to leave the Island before the Marines come.
It shows that he has started understanding ideas like loyalty & being a mentor too.
In the end, once he finally loses - he will retire and live a life like Rayleigh or Whitebeard did, comfortably & with people around him instead of just Baboons in a lonely castle.