I suppose, as an Arthurian Legend geek, I ought to say yes. However, there's still the whole thing about whether or not someone should be great just because they're born into it and, with that new mentality, I'd say no.
This said, it is a story and it wouldn't have worked if Lancelot just suddenly said 'Hey, you know what, guys? Let's be democratic and have a vote about this.' He'd probably lose his head in the carnage that would no doubt follow so it's a good job he didn't - otherwise there would be no story.
The stone recognised him as the rightful King of Logres and, in retrospect, he didn't do a bad job, really. I mean, he was a bit blind when it came to Guinevere's blatant affairs but no one is perfect, right? Also, he started life out as a lowly squire to his adopted brother, Kay, and so he hasn't lived all his life in riches and fame; he knew what the nitty-gritty of life could be like.
In the countless tales and legends, he seems always to have been portrayed as a good, fair King and, though I realise I have now just contradicted myself, I think that, yes, based on his achievements and the hardship he had to go through in his reign, Arthur deserved to be King.
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