No.
Also, Beerus already respect Goku, and not only him.
Yes they did
Goku hasn't got into a serious fight with Beerus since BoG
That Goku vs Beerus in the Monaka suit was comedy
Beerus bullying Vegeta and Goku while they are on his planet is comedy
When Hit said to Goku we are just pawns to them, Goku said "For now"
When Beerus was about to Hakai Goku, Goku hit with the okie doke and embarrassed Beerus with the "Got you"
and went to see Zeno. Comedy
Beerus was legit concerned for Goku after he got hit with the spirit bomb
This is Goku's character. He changes people with his heart and dedication to Martial Arts. Nothing embarrassing about that.
When has Beerus embarrass Goku besides the BoG arc?
If there's anybody that's been still getting embarrassed by Beerus at this point it's Vegeta, especially in the manga.