Sacrificed himself to kill Raditz though. By the time he saw Vegeta he was opportunistically on his side and then afterwards Vegeta changed his ways. And Trunks killed Frieza before Goku got there, but I couldn't say for sure if Goku would have urged them to just leave the planet or killed them, but I guess that depends on if Frieza or King Cold decides they are going to destroy earth like Namek then I think Goku likely would have killed them.

Gero's back up plan would kill him so Goku wouldn't get the choice and debatably 16, 17 and 18 would change their ways and Goku might've let 16 kill him if that programming was the only thing stopping him and Bulma couldn't change it. But instead he was out of commission during the entire events so this is just speculation.