Yes, you are using a fulcrum which is the axis of the sector shaft. You are applying the force to the teeth of the sector in order to move the load which is the entire steering system attached to the end of the pitman arm.
To lessen the force needed to move that load you can do one of two things to the system. First, you could lengthen the teeth of the sector and push on them, moving the force away from the fulcrum. A longer lever on that side means less effort. However this is basically impossible to do. Second, you can move the load closer to the fulcrum which is what the shortened pitman arm does.
Think of sitting on a seesaw in a fixed position and a big guy gets on the other end. If he sits all the way on the other end you might be stuck up in the air but if he moves closer to the pivot you'll eventually be able to balance the seesaw, he effectively gets lighter.
Edit: wmws, you've got it now. I'll leave this post here in case it helps someone else understand this down the road.