Thats correct
Just a bit of more information, it actually comes from bacteria that thrive in hot temperatures, as you know, when PCR is taking place, taq polymerase is added during the last step of extension, where the temperature of the sample would be relatively high, hence the activity of taq polymerase will be optimum. (This is why human DNA polymerase is not used, as the enzyme will denature in those temperatures). 
Interestingly, the early development of PCR used a non heat-stable polymerase (from
E. Coli). They had the replace the enzyme after every cycle (expensive, time consuming, far from ideal.) It took a few years for the use of Taq polymerase to be adopted - PCR became a much simpler procedure where you just mix a few reagents and press 'go' on the thermocycler (or even completely automate it.)
The
paper which describes this process is one of the most cited in history (17800 citations.)
Kary Mullis - the man who is credited with the invention of PCR is completely nuts. Quite a character. His
Nobel lecture is worth a read.