Dude, Ask ATC if in doubt. If in doubt ask ATC. Better to be embarrassed than dead. Talk to them as you would us. "do you want me to hold at the . . . .`charlie hold`(for example) or continue inbound . ."
Yes, but...
The problem with over-reliance on ATC is that due to any number of factors (training, difficulties with language, cultural issues etc.) ATC may inadvertently approve an illegal or unwise clearance.
"...Can American 965 go direct Rozo and the Rozo One Arrival?..."
An approach procedure may only be "amended" by a
properly-issued radar vector or direct-to clearance.
There have been countless examples of illegal direct-to clearances here in the U.S. -- the proliferation of GPS/RNAV seems to be increasing the temptations and opportunities.