Yep.
Basically lesbian tends to be for fem/woman identified people, into their/similar genders.
Gay just means not straight, and into people of same or similar genders, only... for anyone.
Queer tends to be an umbrella of Anyone not straight (and not just orientation, but gender identity, sexual identity, some include some kinks into it, as in different understanding of relationships from majority population.)
They have slightly different connotations, both in who you are, and who you are into / with.
But when it comes down to it, who feels most comfortable with which? Is a preference and personal reasons. :)