Rumplestiltskin is a morally gray character. On the one hand, he wants it all, power and true love, and he'll stop at nothing to attain both. However, he only wants power because he believes that no one could ever love him without it, he lacks self-esteem, and he wants to protect his family. With his dark past, still, it has turned into an addiction in a lot of ways, and though he loves his family even more than he loves his power, he is now realizing that both are possible. Power will forever be a part of him, and he doesn't want to let go of one for the other. As of S5, I'm hoping this means that Belle can accept him now that he's admitted it because I really do think that he has found a balance. It's certainly lateral character progression after S4, and not my favorite, but hey, this is OUAT. Lateral character progression is the best that you're going to get with these characters these days.