Yes there are: Payton, Billups and Kidd were outstanding defenders at the PG who forced you to alter gameplans. Hell even an ancient Kidd was assigned to Durant, Kobe, and Wade during the Mavs title run
In today's game the focus is on the speedsters, though, and that's where guys like Rondo and Westbrook can make a difference. Of course it's hard to stay in front of your guy, if you just got stuck on a screen. One of the things Kyrie struggled with was getting through screens, but having the PG fight through a screen is kind of an archaic way to defend a P&R and a good way to get your PG hurt.