Yes, but the definitions tend not to be consistent.

The best operational definition I got to was, it's ML when it involves a "machine" (possibly defined in software) that tries to 'optimise' some objective on behalf of a user; whereas AI involves some sort of Agent, who needs to demonstrate intelligence, that involve particular environments / states contexts, etc.

But, not everyone defines it like this. To many people AI is rapidly becoming "Neural Networks, particularly Deep ones", with ML becoming "Anything that is in scikit learn that isn't a neural network". Which isn't really a useful definition if you ask me.