It’s especially interesting in Piccolo’s case IMO because he was basically born evil as a reincarnation of his father, never having a choice in the matter. It wasn’t until Gohan came along and treated him as anything but a monster that he began to realize he had a choice.
Piccolo with baby Pan in super was one of the most wholesome moments in the entire series. Especially when Goku shows up to relieve him from babysitting and he explains a bunch of stuff to a half listening Goku and then ends up just staying because he doesn’t trust Goku to remember any of it.