Yes, I think Hannibal viewed the Roman alliance similar to that of his own country, which grounded subjects down with heavy tribute. He thought he could finish the growing Roman empire by stirring a revolt among her allies, as the Truceless War had almost ruined Carthage by revolting mercenaries a few decades earlier.
I think his aim of detaching the Latin peoples of central Italy in Latium etc. was doomed from the start, but his overall operational aim of encircling Italy from around the Mediterranean was not far-fetched at all. Syracuse revolted and Macedon was allied with him. The less-reconciled Greeks joined him in southern Italy, and if it seemed his chances of winning the war increased, more of them would have probably done so. The Romans simply were more aggressive in closing those doors than Carthage and Philip of Macedon were to exploit them. Many people in Italy had to reckon who was probably going to win the war, and thier allegiances maybe were aimed at this, and not complete loyalty to Rome. What Spartan JKM mentined about the 12 colonies is very significant: Rome was clearly being strained. I doubt, however, Hannibal was joined by many cities solely because they believed in his cause. Terror and force played a part.
I read once something like, "Hannibal transcended the traditional ability of the soldiers who fought for him". If so, this says a lot for Scipio Africanus, who had abetter army at Zama, but a smaller one against green troops in the first 2 lines under this very incredible general who could get the most out of troops.