Yes, Create an Adaptive Form creates an HTML5 version of the form that is responsive. It is created using the web interface in AEM. You create a PDF Form or HTML5 form (also referred to as a mobile form) using AEM Forms Designer (a Windows only development tool that creates an XML/XDP template version of a form or document).
Server-side, we have documents services that can read that XML/XDP template version of the form and render it as HTML5 or as PDF (or as PCL/PS). Acrobat and Reader can consume the XML/XDP and render it as PDF