Well, yes. When you listen Irving speaking live he's much less definitive about meaning of some documents, where in the book he's more prone to delivering conclusions.
But in either case, Hitler's takeover of Rhineland, Bohemia and Moravia - then whole of Czech, then that part of Latvia ?, then Poland, then deciding to keep Generalgovernment, then deciding to annex some other parts of France as parts of German territory - To Victor belong the spoils clearly was his credo.
I do not include here Scandinavia, Belgium and Netherlands because I believe he would've given them some semblance of independence
Judging also by his Second Book and what happened, his stance is very much clear to me. The man is too pragmatic in function of well-being of his people to not be understandable. He knew damn well that there would be war for what he was to achieve - even before he got into office. War with France for certain, Britain maybe. The latter was his weakness IMO.
By the time Poland come on the line, he was especially sure about the French - he did it anyway. So, no - he was not trying to avoid war.
Don't get me wrong, I do not object to it. In the end, Britain fucked itself over and it has Churchill to thank for it. What was once an Empire is now nothing in comparison. European of today could've been the master of the world, now great hardships await us instead.
War was coming to Hitler either way, and precisely because of that fact he went for the expansion, both onto the territories of ethnic Germans and some historic territories.
In my view "historic territories" is no divine right - my country once possessed much more than it does today - but in the end different people live there now. Virtually every European country could claim chunks of the other, from different eras. If I was German, I'd be proud of him. But I'm not German.