Was Claudius loved by the Roman people?

Nothing was said by ancient historians about whether Claudius was popular with the people. His closest advisor burnt all Claudius' letters before he was murdered. Suetonius and Tacitus portrayed him as a weak fool controlled his inner circle he supposedly ruled. Both writers were sympathetic to the senators, who had been in conflict with Claudius, and thus biased. Suetonius, lost access to the archives and relied on second hand information. Cassius Dio, who relied on the two mentioned historians as his sources, painted the same picture. Not much was said about his rule and his personality.