Well... I feel he does, as well. Gannondorf wants to attain ultimate power and conquer the world. Good, I just described a good quarter of game villains. Ghirahim's primary goal was saving his master, Demise. You really can't say it was to conquer the world, because, he pretty much did that already. The only species he wasn't controlling were the humans (completely isolated from the rest of the world), the Kikwis (only survived via camouflage and would never survive a war), the Mogma (not combat orientated), the ancient robots (don't fight, disregarding the fact they are all destroyed), and the Parella (who had a dragon protecting them, and still needed Link to save them). Ghirahim was saving Demise out of loyalty, unlike Link and his devious ulterior motive to save the world when he goes off to rescue Zelda.
And Gannondorf, who uses the outdated mold that a villian is only an obstacle and not a character. In OoT, Gannondorf conquers Hyrule, kidnaps Zelda, and loses to Link. Replace Gannondorf with <villian>, Hyrule with <place>, Zelda with <love interest>, Link with <hero>, and I just described a quater of stories in general. In TP, he narrowly avoids death and nonsensically gives Zant power and manipulates Zant into taking over the world for him. I say nonsensically because there wasn't any reason for it. Gannondorf's existence isn't kept a secret, he could just have easily done everything Zant did without relying on a formerly weak puppet. Unless I'm missing something. This time, however, he is killed by the combined efforts of Link and Zelda. Better story, stagnate villian. In WW, he fails to capture Zelda and only does so on his second try because Link was dumb enough to leave her alone. He also gets screwed over by the King of Red Lions before rightfully winning. Again, no personality beyond generic world conqueror.