No, he wanted her dead. When she was free-falling in The Southern Raiders he didn't tell the Gaang to save her and even lamented when she saved herself. He went to the Fire Nation with full intentions of bringing her down, he wasn't as vicious as Azula (he could have easily killed her while she was ragdolling in their fight) but he was totally going to redirect that lightning right at her and zap her out of existence.
But maybe WANTED to kill her is the wrong wording, he was sad about it but he knew it was necessary.>>103103200
Azula's literally tried to kill him multiple times in the series, sporting a huge grin while she does it.