Always, provided the latter limit exists. If $\lim_{t\to\infty}y(t)$ exists, then $\int_0^ty(s)ds$ goes to either $0$, a nonzero constant $c$, or $\pm\infty$. If it goes to $0$ or a nonzero constant $c$, then $y(t)$ must go to zero; $\lim_{t\to\infty}\frac{1}{t}\int_0^ty(s)ds = 0 = \lim_{t\to\infty}y(t)$. If it goes to $\pm\infty$, then we can use L'Hopital's rule on the first limit; recall that, by the Fundamental Theorem of Calculus, $\frac{d}{dt}\int_0^ty(s)ds = y(t)$. So, by L'Hopital, $\lim_{t\to\infty}\frac{1}{t}\int_0^ty(s)ds = \lim_{t\to\infty}\frac{y(t)}{1} = \lim_{t\to\infty}y(t)$.
Note that it is possible for $\lim_{t\to\infty}\frac{1}{t}\int_0^ty(s)ds$ to converge without $\lim_{t\to\infty}y(t)$ converging; $y(t) = \sin{t}$ is a good example. I don't know whether that's relevant to your question.