Yes, a mature paedomorphic salamander can, in some cases, "finish" their metamorphosis later in life. This often happens, for example, when someone obtains wild-caught paedomorphic tiger salamanders. After a few months in captivity (with warmer temperature and other stresses/differences from what they had in the wild), these sals lose their gills and emerge. I don't know of other examples, but I would bet that there are others.
There are some species that are NOT capable of doing this. Necturus, for example, will never lose their gills.
Axolotls are an intermediate case. They usually stay neotenic both in the wild and in captivity, but there is the occasional adult that completes metamorphosis, for whatever reason.