Contrary to what some people think, piracy can do some good. I know it because it happened to me.
I came from a low-middle class family, the only way I could really play game was thanks to piracy; I saved a ton of money to buy the console and 90% of my games were pirated (some were original).
But thanks to that I played so many great games that I otherwise would to have not played, and now that I'm an adult with a good income, I can buy them no problem.
Just to give a few examples:
1- Fire Emblem: Radiant Dawn, played pirated on the Wii; bought Awakening and Fates on the 3DS
2- Bioshock 1 and 2, pirated on PC; bought Infinite on PC when it came out
3- Monster Hunter Tri, pirated on the Wii; bought Monster Hunter 4 on the 3DS and recently World on PS4
4- 9 hours 9 persons 9 doors, emulated on DS; bought Virtue's Last Reward and Zero Time Dilemma on 3DS
5- Mass Effect 1 and 2, pirated on PC; bought Mass Effect 3 on PC
These are honestly just a few and the ones that immediately come to mind.
So to answer the OP question, yes I do think is okay to pirate games; maybe not everyone is like me and they continue to pirate, but I firmly believe piracy can work with some people.
Nintendo and PC gamer