The continuity of naval boarding weapons

Did navies retain dedicated boarding weapons into the Second World War and beyond?

Yes. Swords and sometimes pikes remained aboard ships, while modern boarding teams continue the role with firearms and bayonets.

Navies other than the Royal Navy retained weapons intended for close boarding work. Swords remained aboard ships, and some vessels still carried pikes. The modern equivalent is the fully armed boarding team, whose rifles may still take bayonets. The equipment changed, but the requirement to control another vessel at close quarters did not disappear.