That's ridiculous. Piccolo did the same thing Goku did. Trained him for the Saiyans without acknowledging Gohan's feelings, except it was worse. At least it was years after Gohan grew to like fighting when Goku wanted Gohan to fight Cell. He had no idea Gohan was going to bitch out when the fight came up.
Having just rewatched the cell saga this is wrong.
Gohan didn't bitch out, Gohan was never ready for it.
Gokus entire plan was "if Gohan gets pushed into a corner he will turn it on and destroy cell"
It wasn't until cell was almost killing Gohan that piccolo worked out gokus plan, called him a complete idiot and told him it won't work, Gohan doesn't care if he gets backed into a corner. Gohan cares if his friends get backed into a corner.
Goku couldn't see that, piccolo could.