Essentially, yes.  That's assuming everything wants to come apart, which it
rarely does.  You need to break the big axle nut loose (after removing the
cotter pin), remove the hub mounting bolts from the back side of the knuckle
(three bolts on a 1500, 4 bolts on a 2500/3500).  Remove the caliper, then
remove the hub/rotor assembly (or if it's a 1500, slide the rotor off the
hub) from the knuckle.  Then you'll be able to pull the axle straight out
(carefully, so as not to damage the oil sel inside the axle), remove and
replace the U-joint, then put it back together.

The hubs are frequently stuck, and don't want to come out.  Using just a
puller can sometimes separate the hub in two (not good).  I use a
combination of a puller, and a big hammer to pound on the mounting bolts
(back them off slightly to create a gap between the bolt head and knuckle)
and push the hub off the knuckle.  Others back off the bolts and use a
socket/extension to wedge between the bolt and the frame, and use the power
steering to press the hub.  Take your pick...