Can I claim unclaimed shares dividend?

Yes, you can claim the unclaimed shares dividend. As per Companies Act 2013, section 124(5) the dividends which are unpaid or unclaimed for the period of 7 years or more, will be transferred to IEPF.
You can claim the unclaimed dividends along with the shares, or can only claim the dividend the separately. Before 2018, the dividends can be claimed through e-claim, but after that the dividends can be claimed directly from the firm in the form of cheques.