Depends what you mean by "the beginning". If you mean some point during the decade before the Covenant crew arrived, I don't see how. There's no way he would have known that W-Y would continue using the same physiological form for later android iterations, let alone who might chance across his location.
I think the earliest point where we can begin to infer that he's at least opening the possibility is when he decides to cut his hair, as an obvious attempt to make it harder to distinguish between himself and Walter. Even then, I think it's likely he was just leaving as many options open as possible, waiting to see how things played out with Walter and the crew, and whether he could manipulate them in less overt ways.