Yes, your joints, and more specifically your connective tissues, will become stronger through exercise and training that follows a slow and steady progression. Your connective tissues take longer to adapt to stress than your muscles, so it is possible to be capable of movements that are above the level your ligaments, tendons and cartilage can handle. If you're feeling any pain or instabillity, SLOW DOWN. Rest for a bit, then come back at a level lower than you might feel capable. Progress slowly and pay close attention to how your body reacts. This is the only way to make constant progression without overuse injuries becoming an issue.