Yes!
Canon 752: “While the assent of faith is not required, a religious submission of intellect and will is to be given to any doctrine which either the Supreme Pontiff or the College of Bishops, exercising their authentic Magisterium, declare upon a matter of faith or morals, even though they do not intend to proclaim that doctrine by definitive act. Christ's faithful are therefore to ensure that they avoid whatever does not accord with that doctrine.”
Canon 753: “While not infallible in their teaching, [Catholic bishops] are the authentic instructors and teachers of the faith for Christ's faithful entrusted to their care. The faithful are bound to adhere, with a religious submission of mind, to this authentic Magisterium of their Bishops.”
I was thinking of statements attributed to Pius X here , and assent is called for to more than formal statements.
More on this issue here on another thread, by God's grace.