On some occasions, he might have. Mark 7:
Peter
Πέτρος (Petros)
Noun - Nominative Masculine Singular
Strong's 4074: Peter, a Greek name meaning rock. Apparently a primary word; a rock; as a name, Petrus, an apostle.
rock
πέτρᾳ (petra)
Noun - Dative Feminine Singular
Strong's 4073: A rock, ledge, cliff, cave, stony ground. Feminine of the same as Petros; a rock.
See also What language did Jesus commonly speak?.
Matthew 16:24 Jesus left that place and went to the region of Tyre. Not wanting anyone to know He was there, He entered a house, but was unable to escape their notice. 25Instead, a woman whose little daughter had an unclean spirit soon heard about Jesus, and she came and fell at His feet. 26Now she was a Greek woman of Syrophoenician origin, and she kept asking Jesus to drive the demon out of her daughter.
27 “First let the children have their fill,” He said. “For it is not right to take the children’s bread and toss it to the dogs.”
The Peter-rock (Πέτρος-πέτρᾳ) pun only makes sense in Greek.18 I tell you that you are Peter, and on this rock I will build my church, and the gates of Hades will not overcome it.
Peter
Πέτρος (Petros)
Noun - Nominative Masculine Singular
Strong's 4074: Peter, a Greek name meaning rock. Apparently a primary word; a rock; as a name, Petrus, an apostle.
rock
πέτρᾳ (petra)
Noun - Dative Feminine Singular
Strong's 4073: A rock, ledge, cliff, cave, stony ground. Feminine of the same as Petros; a rock.
See also What language did Jesus commonly speak?.