Yes, I look at note-taking as a skill that essentially is summarizing what you are listening to, writing down questions, etc. It should be an active process, not a passive one.
But this is a skill that takes time to cultivate. Writing down what you hear and then rewriting your notes later does accomplish the same task, and it gives you more time to do it.
I wish I had had YouTube back in the day, or at least video recordings of lectures that one could pause and rewind to portions that weren’t understand on the first pass.