I will happily let a passenger fly in non critical phases of flight. If the passenger flying the plane actually creates a hazard, which even remotely causes an accident/insurance claim, the pilot really missed something!
My heart was warmed many years back, as every year I would take my plane to the fly in corn roast. I would take every kid who wanted to go, flying, and let them fly. Sometimes it was thirty kids, I'd be at it all afternoon, to dusk. Then one year a charming young lady presented herself, and as I took her, she explained that I had taken her years earlier, and she liked it so much, that she joined air cadets, and earned both her glider and powered license, and had joined the armed forces, and was in advanced pilot training. I'd started a pilot on her path!
So, yes, I'll let people fly, particularly kids, to inspire them....