Yes, He did. I am still struggling to get this teaching to agree with that of the Prodigal Son, who clearly did fall away for a time.
Since all Scripture is useful for teaching, I cannot just dismiss the one that I happen to disagree with. They are both true. So--how does one consolidate them?
We all go through our prodigal periods. If we don't, then we are perfect and don't need Christ. :-)
If we have been numbered among Christ's sheep, then I don't see how we leave this earth under condemnation.
A sheep will always hear his master's voice. He may not always listen, but he will always hear. Sometimes the Shepherd has to go into the field and drag the sheep back to the fold. Sometimes they just get thirsty and know where to go to get living water.