Short answer is Yes but with some clarification
Mostly because of the rule here:
You can use Intimidate to force an opponent to act friendly toward
you...
...After the intimidate expires, the target treats you as unfriendly
and may report you to local authorities.
So in my opinion you need to be more threating, if you want to Intimidate. Your example:
I've seen the terrors that lie outside these walls, you're better off
with us.
Is more like a Diplomacy roll. Because Dwarf is trying to help someone. Yes there is somekind of fear involved, but character tries to protect person against that. There is no logic to act hostile after that kind of suggestion.
Intimidate in similar situation is:
I've seen the terrors that lie outside these walls, you're better off
with us. You don't want to have somekind
of accident on the road, do you? Accompanied with threatening tone, some intimidating moves, checking weapon
As you can see in this example there is a solid threat here. After that it's quite logical that civilian will act hostile against Dwarf.
For my opinion threat to someone is not the same as make person to fear some other force. If you want to just make them fear of something, without actually acting threatening - you should use Diplomacy.