Of course. Society is constantly changing, as is the composition and education of society. And as a result, language changes. This is the same philosophy I take with someone's preferred pronouns -- it costs me nothing to use the right words. So long as unintentional mistakes are overlooked, and I've never seen someone get angry about unintentionally misgendering, I'm totally fine with it.
It comes down to this. If someone is uncomfortable with something you've done, and it's something as simple as word choice, why not accommodate them? Why not let them be comfortable at no cost to you? The exact same principle goes for what's acceptable and what isn't.
It really isn't that much work for someone to say "gay person" or "LGBTQ people" instead of queer. Changing your terminology every 20 years isn't rocket science. Look at it this way, if Eminem can censor himself and apologize for saying f*g, I think the rest of us can make the effort too.
(Eminem's thoughts are actually really interesting here. He points out he doesn't mean it as a slur at all, and that while he was growing up it was a general insult in rap, not constantly used as a slur. All the same, he's still used it less and less over the years. )