Yes. Definitely.
There is a recurring theme in the show in which there are moments that show Sheldon genuinely cares about Leonard - all selfish reasons aside.
For example, in this clip towards the end, you can see one such moment: Sheldon talks to Penny when she is contemplating breaking up with Leonard.
Sheldon: Please don't hurt my friend.
Penny: That is the last thing I want to do.
Sheldon: Thank you.
Even though Sheldon has a very high IQ, his EQ or emotional quotient is very much like a 10 year old's and he is shown to care for his friends and Leonard in a similar way (and with a similar reasoning) that a 10 year old child would.