Yes absolutely, this is exactly the point. I once saw a shitpost that described Crowley’s relationship to angelhood as “right species, wrong political party” and that’s a perfect summary of the situation tbh. Ultimately demons are not all that much different from their Heavenly counterparts.
The difference with Crowley, though, is that he hasn’t embraced bitterness like the other demons we’re introduced to. He’s still hurt, he’s still angry with God and a dedicated up-fucker of shit, but he ultimately refuses to be soured by hatred. The other demons we see hate Heaven, hate humans, hate each other, hate themselves, and are subsumed by that. They are not evil by any inherent nature, but because they’re in pain and making that everyone else’s problem.
Crowley, though, has made a radical choice to love, instead. Love the world, love Aziraphale… still working on loving himself, but he’s getting there.
And I use the word “choice” deliberately, because the whole point of both Aziraphale and Crowley is to prove that however much Heaven and Hell preach to the contrary, angels (fallen or otherwise) absolutely have free will. Heaven and Hell are both terrible. If Hell is loveless out of pain, Heaven is loveless out of fear (and the reason for that can be laid squarely at God’s feet for failing to handle Their rebellious little shit of a firstborn with grace… but the trauma all the angels on both sides are suffering from is a whole meta in and of itself). Point is, neither of the sides have any real, substantive love for anything, but Aziraphale and Crowley choose to love anyway, and choose to act in defense of what they love. It’s not so much that Crowley is closer to being a “good person” or that Aziraphale is closer to being a “bad person” than others of their kind, and more that they’re both closer to being real people.
They are, ultimately, the same kind of being. Despite the propaganda of Heaven and Hell preaching that they’re diametrically opposed and different from each other in every way, it’s clear that neither of them has been able to look at each other and truly believe that in their heart of hearts since almost the beginning. It’s the old “we’re all only human” concept, but in this case the refrain is “we’re all only angels.” Their differences are superficial at best, and deep down, when they’re not thinking too hard about it, both of them recognize that. They look at each other, and when they’re not trying to cling to the lies they’ve been fed about “the opposition,” they instinctively feel it.
“Oh,” their hearts say, “he’s just like me.”