He sure does! Hear and see that inevitability in the first clip from Men in Black 3 below. (You also get to Smith ride the futuristic bike thing that so mildly delighted him on the poster.)
Disappointing that this particular "hell yeah!" is a response to a query, not the usual, spontaneous expression of delight over Will Smith being Will Smith in a given situation, but nonetheless, you get the idea. This dude is sassy as anything.