When I first started keeping a roach colony it would freak me out to put my hand in and if they touched me I screamed like a tiny little girl. These days I'm much more fine with it...I don't really want them crawling on my hand but I can at least move things around and not jump up and down while flinging my hand around when they touch me
I also like moving things around so they run around making that scurrying sound because I'm weird. And I think it's interesting when they swarm the food I put in the bin instead of getting the creeps.
It probably depends on how bad your fear is too. If it's just a generally dislike and you find them disgusting then yeah you probably will get used to them. If it's a crazy fear like mine for spiders then maybe not.