The short answer is yes.
I change position to work different muscles, and lift (not pull) the leg through the back of the stroke, "scrape" through bottom, "slide" across the top, pedal circles, etc.....
I will pull through the back of the pedal stroke when I need that little extra burst of power, but it will "gas" me if I go too long.
When working on the trainer, I will single leg pedal to work my (left) weak leg strength and technique. I found my right leg had been "carrying" my left leg, and the changes in pedaling helped speed, stamina, and hill climbing.
Pirk