Not these characters you haven't, we've only seen them in two, extremely fast paced, movies. Two movies full of action, but light on character development.
But if I had seen TOS for the first time at the age of forty, there's no guarantee that I would be as attached to those characters. If I had watched these movies at the age of five? Who knows how I would have reacted to them?
Kind of like time-travel: if you change something, the things you know and love may be entirely different.