Yeah, but Pascal isn't usually just a voice actor. They're accustomed to being heard and not seen, but I imagine Pascal was chafing at being the star of this hugely popular show yet hardly ever getting to emote with his face.
Hell, Gina Carano is so wooden she'd have fit right into the prequels, but even she gets more face time than he did. I wouldn't be surprised if he thought the constant helmet-wearing was just a gimmick that would be gradually phased out after the first season.