Clear answers from the qur'an
According the qur'an certainly "yes" read for example:
[We sent] messengers as bringers of good tidings and warners so that mankind will have no argument against Allah after the messengers. And ever is Allah Exalted in Might and Wise. (4:165)
... You are only a warner, and for every people is a guide. (13:7)
And We ...