Yes, as I understand it ABS catches the occasion where your braking overwhelms the wheel-road friction the wheel locks and starts to skid. If you're before that threshold then it doesn't activate and doesn't negatively affect anything, if you do lock then ABS activating is better than not having it and the remedy is the same as without ABS where you release the brake enough for the wheel to turn again. A skid is the least desirable in terms of control and stopping distance, having ABS lets a driver hit the brakes hard in an emergency with more confidence.