He did, and he always got sentimental about her when he was single again, like Kelly said in S05, hehe. I felt a bit sad for him in 5x01 when he showed up on her door all enthusiastic with a hawaiian garland, only to discover she was already in a relationship with Brandon.
Jus watched the Spring Dance episode, it still cracks me up when Steve asks:
Is that how you guys are going, as friends? Kelly:
Well we're not going as enemies! 
I love how they went from this love-hate relationship to a genuine long lasting friendship.
