In this Vim screenshot you can see that when moving the cursor over a line it changes the normal color of the whitespace characters (shown on the left) from grey to black. Can I
Yes you can. From :help listchars (at the end):
:help listchars
The "NonText" highlighting will be used for "eol", "extends" and "precedes". "SpecialKey" for "nbsp", "tab" and "trail".
With this knowledge you can modify your color scheme accordingly or add a call to highlight in your vimrc.
highlight