Srila Prabhupāda wasn't expecting all his students/disciples to learn Sanskrit perfectly, but he definitely wanted them to speak and memorize important verses in his books.  His Divine Grace was genuinely pleased when his initiated students learned to read, pronounce and memorize the Sanskrit ślokas nicely. If they could learn a little grammar or vyākaran, then all the better.  The following are some quotes from His Divine Grace in this regard:

“It was my intention in presenting the books that anyone who would read, would learn Sanskrit.” 

(Srila Prabhupāda letter, September 26, 1975)

 "As such it is now necessary that men of culture all over the world may learn and read Sanskrit, the mother of all other languages of the Aryan stock. The League of Devotees, therefore, will maintain a Sanskrit academy and a degree college especially for the purpose of disseminating the benefit of this great language to all. Scholars from all countries will be welcome to remain as inmates at the institute."  (On the mission of the League of Devotees, 1953)

In Jhansi, where Prabhupāda started the 'League of Devotees', his very first disciple, Dr. Achārya Prabhākara Mishra, was a college principal and a scholar of Sanskrit. Thus in the above quote, Prabhupāda is similarly envisioning an educational institute for scholars from all countries to learn and read Sanskrit.

"Every volume of Srimad-Bhagavatam as well as Caitanya Caritamrta must be fully complete with an index, list of references, glossary, Sanskrit pronunciation guide, and index of Sanskrit (or Bengali) verses. This will be best." (Letter, February 6, 1975)

"It is the practice of the conversant with the science to pronounce a Vedic mantra in the right accent. The combination of the mantra and Sanskrit words must be chanted with the right pronunciation, otherwise it will not be successful."  (SB 4.13.27 purport)

"Therefore it is called Sanskrit. [In] Sanskrit everything is reformed. It is not by that b-u-t but, p-u-t put, if you say u‘, then you must say b-u-t but and p-u-t put but not that sometimes put sometimes but, no, that will not be allowed in Sanskrit. The pronunciation must be regular. You cannot change, Sanskrit means reformed language."  (Lecture, April 23, Tokyo)

"The real meaning of Sanskrit means ― reform.  It is not whimsical, just like in English language, ― beauty but, peauty put.  It is not like that. Every word, every syllable has got a symbolic meaning." (Lecture, January 19, 1969)

Regarding Sanskrit class, it is very encouraging that Mr. Parikh is helping you in this connection, but the chief aim for learning Sanskrit would be how to pronounce the Sanskrit verses especially in our published books. Just like you have already chanted the Govinda verses in the record. Similarly all the verses you have to chant combinedly and melodiously along with musical instruments, and it will be a great charm to the people of the world.

(Letter, April 16, 1970)

"The linguistics professor has correctly remarked. It was my intention in presenting the books that anyone who would read, they would learn Sanskrit. For example almost all of my disciples are pronouncing Sanskrit very nicely just by reading my books. He says that there is no pronunciation guide, but it is there, is it not? The best thing would be is a recording."  (Letter, September 26, 1975)