Correct, the more time you spend with a given character/group the more opportunities you have to show them in a more favorable/humanizing light with examination of their motivations & history without explicitly trying to keep them looking evil & unbeatable the whole time.
"ZOMG the Dominion is going to conquer us! Wait... it's founders faced discrimination because of their form and decided to bring order to their part of the galaxy... maybe they aren't so bad?"
"Species 8472 is the greatest threat we've ever faced, how can we stop them? They are only fighting back against the Borg who struck first? Ok, I guess I can understand their anger"
Pick a race on Star Trek which has had more than a few episodes of backstory/examination and you see the same pattern.