Yes, and great endgames don't just appear. They have to be created - by systematically realizing your advantages, nurturing your position, and keeping counterplay to a minimum. For example, in anticipation of the endgame, you try to exchange as many pawns as possible to improve your bishop.
Which brings the point that advantages cannot be maintained by simply "avoiding mistakes". It takes real effort - they say that the hardest thing to do is to win a won position.
In the endgame, I'd say a lot depends on the position. In an open endgame Bishops rule, of course. In a closed one, I'd take a Knight over a Bishop anytime for any task.