Yes, but there's a "but..." involved.
A few of my friends smoke (occasionally), and I myself VERY occasionally*. But what they told me...either it was naive when we were young, or marijuana has changed. and I fear the latter.
You see, like all drugs, marijuana consists of different chemicals. And - ironically - because it is illegal, there is no oversight. It is made by either lucrative gardeners (unlikely) or at best gray-ish criminals (likely). Because they don't want to get caught, they don't want to do it for charity either. And that changes to "making profits". And that means that they looked for ways to either increase the effect or the addiction ratio. And since marijuana is a plant, it can be boasted like that.
Result: the marijuana that goes around "on the street" and is being smoked is no longer that relatively harmless plant that could get you high and not much more.
So that's basically the but: it should be legal, but (IMHO) also government regulated, in rather similar ways that tobacco and alcohol are regulated (and that, certainly in Belgium, are taxed to a pretty high degree).
*when applying for an insurance, I actually told them the truth: in the last five years I had "done drugs": I had smoked exactly one joint.