No it did not. I think what really bothers me is that I always had this perception of Futrama as one of the few shows that didn't just "reset" at the end. Things changed, people and their relationships changed throughout the series, and although most episodes are standalone adventures, if you saw past episodes you could see how some things led to current situations and maybe "get" the universe a little better.
It just seems to me that they don't really care about that stuff anymore and are just gonna do whatever they want to the characters and ignore it the very next week. Maybe it's my fault for having that perception of the show in the first place, and it was always like this, but I certainly don't remember it.