Absolutely. And I sincerely hope that your colleagues are appreciative and return the compliment.
I always speak to my Drivers, do what I can to be friendly and promote the team spirit; nip up the front with cuppa when we have a long enough stop, make any calls on their behalf to control or resources etc, and so on. Sadly there will always be those in both grades who either have some sort of chip on their shoulder or just lack social skills, but they are the minority. I was told by a Guard once that he requested his Driver contact the panel to ask for police assistance, and was told that it was 'his job to do that' and his Driver was unwilling to even make the call! That, however, is happily not how the vast majority operate, and those who do tend to be universally thought of with considerable ill regard, quite rightly.
Going back to Drivers being helpful, watching the TGS door at unmanned stations is quite a common one on HSTs, and always very welcome.