Yes. If you need reliability guarantees (guaranteed in-order delivery and retransmission of lost packets,) TCP provides that, and by extension, anything built on top of TCP, inherits TCP’s reliability guarantees.
If you cannot accept the overhead of TCP’s reliability guarantees (or just don’t need it,) but still want service multiplexing, you’d typically use UDP for your protocol.
If you cannot accept the overhead of TCP’s reliability guarantees (or just don’t need it,) but still want service multiplexing, you’d typically use UDP for your protocol.