Yes, you can - and you should - depending on what you are doing.
Knowing the pull-up on an I2C line is almost an art form.
Long wires and multiple devices will necessitate changing those pull-ups.
Philips invented the I2C bus a zillion years ago and NXP bought Philips.
They have the documentation on how to choose the pull-ups. Or there are lots of web sites.
I2C pull up resistance, rise time and bus capacitance discussion (fastbitlab.com)
is just one of many you can find.
This one from TI is good as well:
I2C Bus Pull-Up Resistor Calculation
- john
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