Beer always tastes better when consumed from a glass, and each beer style has a specific glass that works best. The Belgians will not serve you a beer out of an improper glass that doesn't match the style. Since every Belgian brewery releases its own glassware per specific style, it makes it pretty simple over there, but not so simple elsewhere.
The shaker pint glass is actually considered to be the worst one, the wide open top allows too much of the nose of the beer to escape, and like wine, the smell is very important to the flavor. The relatively straight sides also allow too much of the carbonation to disappear too quickly.
Anyway, the tl;dr version is Yes. Beer glass makes beer taste better, and the proper glass even more so.
