No. On iPhone you always write with your finger. On iPad, CollaNote starts with Apple Pencil for writing and your finger for scrolling and zooming. To write with your finger instead, tap the Hand/Stylus Toggle on the toolbar. Tap it again to go back to scrolling with your finger.
Some features need a specific pencil: the Arc Menu opens with the squeeze of Apple Pencil Pro or the double tap of Apple Pencil Pro and Apple Pencil (2nd generation).