Yes, he did, and absolute proof of that came out a year or so ago when former Justice Blackmun's papers were released. In the files, there was information about the original vote at conference (5-4 to overrule Roe), and then there was a note from Kennedy to Blackmun that he had welcome news for him. (He had changed his mind.) Souter and O'Connor had been working in secret to form a "moderate" opinion that would reaffirm Roe for the most part. They then pushed Kennedy on it, and he gave in and joined their secret opinion. Rehnquist was shocked when he learned that the majority had flipped and had been taken away from him by stealth. Blackmun was overjoyed at this, but still acted in public and in his dissent like he was upset that the three hadn't reaffirmed every last word of Roe. It was a clever ruse, but word leaked out shortly thereafter and because Blackmun wanted his papers released rather than destroyed, there is now proof of most of it.
One story regarding the Casey decision, and it's one I trust greatly, is that Kennedy actually contacted and encouraged a member of the press to follow him the day the decision was announced.
That's the kind of person Kennedy is. He should go down in history as one of the worst, most self-centered justices, but he won't, thanks to his liberal decisions. Oh, and we won't even go into how arrogant he acts at times, even to his clerks, but plenty of those stories can be found online, mainly from former clerks who choose to remain anonymous.
If he cares so much about what the public thinks about him, I wonder how he would react if they had hundreds of protesters outside the Supreme Court were doing something like burning him in effigy or something. That would have to be a real knock against one's pride.