Aye. It started out as On The Ball the section on ITV's World of Sport to rival Football Focus on Grandstand.
Brian Moore presented it and the Saint would occasionally fill in for him, Jimmy Greaves would be dragged out as a comedy foil and the two of them seemed to strike up a bond, so the show was eventually renamed in their honour, probably around 1985.
It was interesting to hear that in the tv double act tradition of the Likely Lads or Steptoe and Son despite their on screen rapport they weren't particularly close away from the studio.