I don't think so. Even if Goku didn't intend to fight Boo, he would have no reason to make everybody feel so genuinely hopeless by hiding his form from them, especially when you contrast his initial statements with him casually saying he could have killed Boo when trying to brag about SS3 to Vegeta.
Add to that the complete lack of foreshadowing, and yeah, SS3 pretty much came out of nowhere both in and out-of-universe.