no, it's actually crazy to me that, arthur, ARTHUR, mr Very Weird about feelings, mr gets real wobbly when talking about them (see: calling merlin wise in 03x02 for reference), yeah, that same arthur said "if i need a servant in my next life..." to merlin's face in 02x12, as he was about to fight some very much unkillable dudes. he didn't give his usual lines, such as "take care of those i love" as a sign of complete trust, no. instead, he decided to stand smack in the middle of the point - the point being "i wish to see you again, (and again and again) even if it won't be for some time", point being - one lifetime isn't enough. maybe it was the sleepiness getting to him, maybe it was the pretty certain death scenario, but i just think that was a little crazy of him.
