No.
I believe the ability to view & edit form properties in Form View was removed (in A2007) to improve form security by limiting changes (possibly harmful) that end users could make. As a developer I do everything I can within reason to lock down my forms so I'm pleased that its been removed. In fact I often disable the right click shortcut menu completely
AFAIK, there is no way of re-enabling that feature in later versions but, for the reasons stated above, I've never found any reason to look into it. It is somewhat odd that the properties menu item exists in form view when its always disabled
The Properties right click menu item is also available in the Layout View that was added to A2007 but that doesn't really help you as you still have to change views.