The basic answer is no. Colonial powers were never thinking about how to get the consent and agreement of the local peoples, unless it was to legitimize a land grab, how to co-rule, etc.

However, a lot of the conversation around colonialism that goes on is cartoonish in the way it portrays colonialism. It wasn't the same process from decade to decade. Over time goals changed as technologies changed and economies changed, or as political theory changed.

Another issue is often what was though as benevolent wasn't. During the 19th century when political theory had changed enough that colonial powers did feel they had responsibilities to the people they colonized, their idea of benevolence was to send in missionaries, to destroy cultures, to separate families, etc. Under the treaty of Tordesillas, the Spanish and Portuguese thought they were being benevolent in bringing Christianity and saving pagan souls, but in reality they brought one of the largest, if not the largest, genocide in world history. The British may or may not have believed their own story about being benevolent by enslaving Africans to Christianize and civilize them, and thereby conducting the other main contender for the world's largest genocide.

Often things the colonial powers for their own benefit had actual benevolent outcomes. The British didn't build railways in India for the sake of Indians, but it turned out to reduce the impact of famines, to help the colony form a national idea, to put thinkers in touch with each other through the mail, and later through telegraphs, to build a national independence movement of a unified India. It was actually the complete opposite of what the British wanted, but achieved a huge benefit to Indian nationalists that they're loathe to admit, even today. Hong Kong is probably the best example of this. There's no question British rule was racist and discriminatory, but it helped Hong Kong build a lot of the institutions that allowed China as a whole to modernize their economy on Mao's death. That was never British intention, but that's what happened.

The other issue is the areas that were colonized may have been seen as homogenous by the colonizers, but they rarely were. Cortez didn't differentiate against the peoples of Mexico, but they sure did. And those differences allowed huge groups of peoples to fight off Mexica control of their lands. They thought it would be a benefit to them to align with Cortez against the Mexica, and it was for a short time. Cortez was a greedy, selfish, liar. He's almost cartoonishly self interested. But, to his indigenous allies he was seen as providing benevolent assistance in overthrowing the hated Mexica, until a combination of political decentralization, pandemic disease, and ruthless and blood thirsty Spanish control left them in just as poor shape as the Mexica.