No, I don’t think he did. But he didn’t “read the room” properly or was cocky about what he was getting away with, and he changed his routine during a live MTV “Video Music Awards” ceremony in 1989.
He was known for pushing the envelope – it was his brand and he was always topping himself in how far he could push what’s accepted.
But he ended up getting a lifetime ban on MTV after that 3 minute set.
He cried on TV several times later after that to various talk show hosts on other networks. It wasn’t the cries of realization but the cries of “how dare they, now I am sad and make less money”. He toned down his set and in his touring he dropped the homophobic and misogynistic jokes, which were the ones he was always pushing.
They lifted his ban in 2011 on MTV. He never stopped blaming others though. But at least in retrospect he recognized that he didn’t read properly the changes in society that were happening and that these were no longer safe groups to mock freely by the late 80s; they bit back.