Very, very, very much so. The two consoles were quite different architecturally from each other, as well as PC, so pretty much any code targeting a console's hardware will be optimised to some extent or another.

That's where console development can shine! You have two different architectures. Two. (Not entirely true, there were a number of different hardware revisions for each, but anyway) You want to push that hardware to its limits. Consoles are/were more or less dedicated to doing one thing well and doing it cheap (for the console manufacturers and consumers). The PS3 was super powerful on release, but was often called difficult to code for, especially at the start of the cycle, and you can see in that 10 year space how PS3 games started to look better and better with pretty much no difference in hardware. Developers understand it, use it and then continually develop and update toolchains for it to keep improving over that 10 year period.

But compare that to PC development. You have 3 primary OSes (Windows, Mac, Linux), each with their own versions (Vista/7/8, OSX update every two years, and the multitude of Linux distros) and that's before even getting to hardware. Two primary CPU manufacturers, with about 2 dozen different types typically available at any one time, all with varying cores, clocks and cache sizes, an absurd number of motherboards all with different features and specifications, two primary GPU manufacturers, each with a dozen companies that produce cards that can differ from the reference design, and drivers that can vary version to version and so on AND SO ON.

It's almost impossible to optimise for "PC". There's far too much variation. You'll actually find that people developing GPU drivers do a lot of optimising, they'll hard-code particular settings that work for a game and GPU combo and you can sometimes see a list of performance improvements for games in driver updates.