Absolutely!
I had my dad's for a while at Uni, then after getting married, my wife bought me my own (Admira Avila), which is lovely to play. I'm always much more in favour of nylon-strung guitars than steel-strung ones, it's something about the sound of them I like.
I have it out in the dining room at the minute (next to the computer now), and pick it up and strum/play quite often.
And I definitely don't feel any shame in that!
Roo