Not the word see alone. The phrase "I can see where you're coming from" is used to mean that you understand a person's reasons or beliefs, especially deeply rooted or long held, for thinking or doing something. Deeply rooted means that they come from a source, either parents when we're young or from a traumatic experience, that makes the beliefs important to the person.
Similarly, we have expressions "look into someone's soul" or "see into someone's soul", along with the idea of the "depth of the human soul", that mean to examine, to try to understand, what is emotionally deep within a person's mind.