Well no,because he pretended to like Tak and Jhonen Vasquez wrote "Invaders need no one" to 表示する that Zim doesn't like nobody または needs anybody for a friend.And what Zim meant that he'll 愛 minnimoose as a special sidekick.
No he does not. Irkens are not capable of love. In the unaired episode "Nubs of Doom", Zim tells Minimoose that if he was "capable of love" he might actually 愛 him [Minimoose]. So no, Zim needs NO ONE!!! >=D