Not really - you still need the centralised signalling server for initial connection setup between peers. And this is needed for every new connection.
It's like you'll also need DNS, which isn't decentralized either.
If someone wanted to write this as a WebRTC-based decentralised version there is nothing stopping them using something the like the public signalling servers that Mozilla uses for their Hello service.
Also, if some users wanted to run a signalling server themselves, that's ok too.
You're right, there are public signalling servers and such. I just wish we weren't so restricted in setting up direct connections, such that you could do it through your bootstrapping peer in the network.