Mostly, yes. Most urban areas in the US have both a higher and diverse population than rural areas; but there are more rural areas than urban.
Urban areas account for some 80% of the US population.
https://www.census.gov/programs-surveys/geography/guidance/geo-areas/urban-rural/ua-facts.html
And both Biden and Hillary did better in those areas while Trump and most Republicans do better in rural areas. So it makes sense that by individual state, Republicans tend to dominate while Democrats tend to dominate in urban areas.
And these don’t particularly pertain to party or individual candidate but how their policies reflect the growth or relatability to certain area. Most Democrat policies are for urban renewal, or expansion while Republican policies tend to be more favored in rural areas where taxes tend to hit harder.
One should also not assume that rural areas equal poverty while urban richer. Urban areas also tend to have a higher poverty and inflation; but poverty and inflation tend to manifest more dramatically in rural areas; and can even make or break them.
In this regard, it makes perfect sense to me why Trump is unpopular.
I have argued, and been doing so, that rural areas are far too often overlooked by both parties as no one has a very realistic idea of policies that compliment them. But because Republicans tend to not rush, or rather pass less obstructive legislation in local rural areas; Republican policy usually has less of an impact than any liberal policies pushed by Democrats in rural areas.