Yes, but don't be fooled into thinking that Jupiter is like a big cloud of gas that you could fly through, it's more like a fluid planet that gets denser and hotter the deeper you go.
Pressures at the colorful cloud tops are not dissimilar to those in Earth's atmosphere, but they build up as you go deeper, rather like a submarine experiencing crushing densities as it sinks deeper and deeper into our oceans. In fact, the hydrogen that is Jupiter's dominant gas gets compressed to such extremes that it changes to an exotic metallic hydrogen form.  So think of Jupiter as a bottomless ocean of strange, exotic materials.