In most circumstances, yes.
Compared to Viagra, Cialis has fewer side effects, lasts much longer (up to 36 hours), and has fewer interactions with other drugs.
The only benefit Viagra has over Cialis is that Viagra gives harder and more intense erections compared to Cialis.
Cialis restores "natural" erections, while Viagra amplifies them.
This is the reason Viagra is still preferred by many people over Cialis.