Yes. The second amendment is using the comma as an "and". It means that we have the right to both a well regulated militia and for the citizenry to own and bear arms. It is not for the purposes of conscripting the citizenry into some militia. It is intended for the citizenry to defend themselves, against tyrants and assailants.

If the second amendment was just about having a well regulated militia, then they would not have mentioned the second part about citizens bearing arms.