Yes. It wasn't until the latter part of the Eighties that I even knew Dynasty and Dallas had episode titles. I've long been curious to know why Knots - the Dallas spinoff- showed their titles while Dallas itself didn't. Especially when Dallas started out so episodic.
For me, these were a fun part of a new episode. I enjoyed some of the wittier ones and found some very enticing, wondering how it would fit the episode I was about to watch.
It's usually at the producers' or even the post-production crew's discretion if episode titles are inserted on screen. Lorimar shows usually did, "Dallas" was actually a strange exception in that respect.