Yes, and pretty soon it becomes automatic.

Kind of like we have two cars, one's a stick, one's an automatic. Once you know how to drive stick, you never (well amost never) forget to clutch in before braking to a light. (However, it is sadly frequent that I automatically "remember" to stomp on the clutch when I'm pulling up to a stoplight in the minivan -- but where a clutch should be, there's an extra-wide brake pedal instead!

I haven't noticed whether, when I ride on platforms, whether I unconsciously kick my heels out before taking my feet off the pedals...