Of course he does, Benkei is a very wise figure in Japanese folk-lore. At the end Benkei, glances towards the heavens and then back in Togashi's direction and gestures to show that he understands Togashi knew that he was Yoshitsune's retainer this whole time, and that by letting them through, he was in turn sacrificing his own life. The dance of longevity is another way that Benkei shows thanks to Togashi for pretending like he bought his lie because of how much Togashi respected the honor and loyyalty Benkei had towards Yoshitsune.