Yup. As long as you actually give off a consistent indication of when you feel more claw than you'd like, cats seem to learn where the line is. They don't actually want to hurt you, until they do, and at that point the behavior is a completely different level of aggressive.

It's just that fellow cats are protected by a coat of fur, so the "intuitive" amount of claw that a cat will use is a bit more than what we furless humans can deal with. The cute part is that given time, a cat will even learn to tell clothing apart from skin. My boy uses plenty of claw sitting on my shoulders when I wear a hoodie, and basically none at all, even falling off rather than put claws in me, when I'm in just a t-shirt.