Yes. Maybe. Probably not.

To be Emperor of Rome, you had to have the support of a large group of fighting men. If you came into the purple via succession, then your support likely came from the Praetorians, in which case you were beholden to them and they were always going to be aware of that and try to act in their own best interest.

If you came into the purple via rebellion, then you likely had an army of your own. Legions from the East, maybe. In that case, you march on Rome, take the city and then do what you like. See Vitellius for example. He disbanded the existing Praetorians and installed his own men in their place. In practice, this didn't make much difference though, as he was merely beholden to a different Praetorian guard.

Praetorians were more of a police force than a a fighting force, but they weren't even a great police force a lot of the time. As they often decided the power structure of Rome, the office drew ambitious, political men and not, generally speaking, the best soldiers. Their power stemmed from being the only men with swords, not the best men with swords.