Yes. Most of the time, people will do several "drain and fills" over a couple of months to get to essentially NEW fluid.
I don't know when it was last done, so you may be do for a filter change. But.. short response is this: If you transmission is is good working order and the fluid is NOT BURNT, then yes, you can just replace what you drained with the spec'ed fluid type.
However. if you tranny fluid was burnt.. you should consider replacing all of it, as burnt fluid (like any oil product) will have degraded and no longer offer the lub/protection/movement protection of new fluid.
The best way to check is this: The fluid should be a reddish color. If you notice a darkish tinge, almost a brownish tinge, that is a pretty clear indicator your fluid is burnt. If it looks nice and pinkish red, then your transmission is probably in good running order and not a lot of gunk is clogging the filter.
EDIT: Def follow the MAINT guide posted above. My advice is general advice applicable to just about every auto tranny out there. I don't and have not owned a 3rd gen, so the above guide will have model specifics that you might need. Fluid Type and amount.. etc, etc, etc.
Edit: You would probably be shocked to know how often this happens... to experienced people, not paying enough attention.. or a couple of beers too many into the weekend.
Happened to me once... ole sam adams was helping me fix stuff.