Yes! This is one of my favorite parts of cycling, especially with my son. I know the people who live on our route to his school. We've been invited to bon fires, we pet the dogs on the way. There's a guy I see at the train station every day who didn't know how to fix his bike, so last weekend he and I met up and I adjusted his brake calipers and derailleurs. It turns out some of the neighbors work at a BBQ place right next door and now we get free samples.
I have a much richer experience of my community and the people who live in the vicinity of my apartment complex because we aren't insulated from them when we travel. I guess the path we take to his school and then my work every day are a path instead of a hurdle, and the people along the way are likewise seen differently.