Technically: No
Figuratively: Yes
Reason I say that is because let's face it earth will be around for billions of years, maybe not as you would like or think "earth" should be as but it will be around. Know think about it if from billions of years we as a species don't kill ourselves then we will have either evolved to a state where we are all machines or we have evolved to a state where there are MANY MANY MANY subspecies or we have evolved as a species to a point where we are not technically humans anymore however we will technically be them as an ancestor.
HOWEVER keep in mind this is a scenario where no big meteor has hit earth or aliens haven't seen us as a threat or we haven't offended them by mistake or anything
Let me know what you think