Kinda, but mass is just how close the atoms are to each other. When you feel the gravity of the Earth, you're actually feeling the gravity of every atom in space, the ones further away affect you less. When all the atoms are closer together, they weigh more, and have a stronger gravity. Pluto wasn't dense enough to clear its orbit, which means if Pluto was denser, it could've been considered a planet.
Now time to wait until someone comments, "I aint readin allat"