Very good points Evisse, and I got a bit more to add.
Aragorn in this chapter seems to try to assert himself. Gandalf stops him, and if Aragorn didn't learn a lesson from this, then wouldn't he have tried to assert himself as king when he first comes to Minas Tirith?
Aragorn could have learned something from this situation. He doesn't come to Minas Tirith to take Denethor's place (despite Imrahil's encouragement). He waits for the proper time to claim the throne, which is after Minas Tirith is saved, as well as Middle-earth. He seems it unwise to just have a leadership change when battle is going on.
Rohan is in the same situation. They are fighting Saruman as we speak. Now the situation is a bit different, Aragorn doesn't go there to take the throne from Theoden, but he tries to disregard his orders. If he would have there could be some troubling moments ahead as Hama says something like "Do you intend to go against everyone in Rohan?" That's when Gimli says "Not everyone," and strokes his axe...the scene continues.
Anyway point is you have to recognize a change in Aragorn between this scene in Rohan, and the later in Gondor. In Rohan he tries to assert himself, and Gandalf tells him to "back off," and he does. In Gondor he is actually being encouraged to take the throne, but he doesn't. So, you have to think that Aragorn learned something from Gandalf's line "A king will have his own way in his own hall."
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