Pretty much.
It refers to the kind of engagement you have where some fedora will come up to you with a "HEY CHRISTARD! prove to me that God exists (but only using methodologies and criteria that I will arbitrarily define!" or "Hey um, you do know the Jeezuss doesn't exist and is just a facsimile of every ancient mythology ever made, right?" In that kind of argument it's OK to just flat out ignore it, or just engage with it passively like "OK, whatever". This is akin to when Pharisees and Scribes would accost the Lord and ask him "If you're the Son of God do this magic trick for us!" which He answered by just talking past the question.
Doing this just pours hot coals over their heads.
This is different from you initiating the conversation, whereby you just bring the Gospel to people but, if they won't take to it, don't hang about, but "shake the dust off of your feet" and move on. That said, you have to still try, don't just give up at the first hurdle.
In either case, you are to pray for these people.