The answer is absolutely!
Brushing your teeth too hard (known as “toothbrush abrasion”) or using a toothbrush with hard bristles can not only hurt your gums, causing them to recede, but can actually remove the protective enamel coating your teeth.
Over brushing can wear down the enamel on your teeth and push back the gums which exposes sensitive root areas. When you remove that protective layer, it results in sensitive teeth and gums.
Choosing a toothbrush with soft or extra soft bristles is a much better choice. Plaque is actually soft enough that you could remove it when a soft cloth, only if you could reach all of the areas. The key is to be thorough, not aggressive.
So brush soft and don’t forget to floss!