Regularly using a particular focal length with a particular format size (ie. APS-C, 35mm/FF, µ4/3) will allow you to learn how to visualize the framing a little more accurately. But most of us will probably always be a little better at visualizing the difference between 16mm and 24mm than we are at measuring the difference between 200mm and 300mm with our unaided eyes, even though the ratio is the same between the two focal lengths in both cases. This is because what we are really learning and looking at isn't the focal length, per se, it is the angle of view that focal length gives with a camera having a particular frame size.

Assuming a full frame camera, a 16mm lens gives about a 100° horizontal angle of view when the camera is held in landscape orientation. A 24mm lens gives about a 74° horizontal angle of view. On the other hand, 200mm and 300mm lenses give 10° and 6.8° horizontal angles of view respectively. It's a lot easier for me to visualize the difference between 100° and 74° than it is to visualize the difference between 6.8° and 10°.