Definitely. Humans expand. It's probably an evolutionary imperative in many of us. Africa was essentially an oasis and yet some of us decided to go make our way outward to inhospitable freezing ass places where the environment itself is just constantly trying to kill you in a million different ways. And we knew nothing about how to deal with it, at first.

Or take the early sea voyages. Not only were there endless worries about things that were ultimately nonissues like sea monsters or falling off the edges of the Earth, but there were endless very real dangers awaiting which we had no clue about or how to deal with - scurvy, rogue waves, and much more. In the aforementioned Age of Sail, it was just expected that a significant chunk of your crew would die. Yet somehow we pushed onward and outward.

And the infinite possibilities of space are going to absolutely dwarf all previous frontiers in terms of interest and potential.