Yes, David usually got along with everyone.
BTW, the June 1989 issue of Sesame Street had "interviews" with different characters' reactions to the birth of Luis and Maria's baby. A photo of David says, "I LOVE babies. I already told Maria and Luis that I'll baby-sit." Of course, David never would baby-sit. The episode when the baby was born was his last appearance on Sesame Street. And as you know, the actor who played David, Northern Calloway, died shortly afterwards which makes that statement unexepectedly sad.