Return truthy value on success

[anakinj]

Description

Still one regression in the old methods.

They were returning truthy values so chains like this would stop working:

::JWT::Verify.verify_claims(payload, options) && validate_more(payload)

This change addresses that by returning true.

Checklist

Before the PR can be merged be sure the following are checked:

• There are tests for the fix or feature added/changed
• A description of the changes and a reference to the PR has been added to CHANGELOG.md. More details in the CONTRIBUTING.md