Basically yes.
Obviously intention is a difficult one to prove and your actions can be used to speculate on what your intentions were.
As an example as to why intention is important, in order to steal anything, there HAS to be the intention to permanently deprive someone of the property being 'stolen'. So, if I was walking past your house and had no shoes on, and noticed you'd left a pair of walking shoes on your step to dry, I could take them but still not steal them, as long as my intention was just to perhaps walk home and return them the day after, ie, no intention to permanently deprive. That's why a specific offence of TWOC (Taken without owners consent) was created to tackle car thefts for joy racers. At the start they were getting off as they (more likely their solicitors) were arguing that when they took the car, they only wanted it for a razz about then to dump it, and therefore had no intention to permanently deprive the owners of the car. According to the offence wording, they did not commit theft.