Yes, but I do not believe they have ever or will ever visit Earth. Faster-than-light travel is impossible & communications would be impossible between them in any biologically reasonable timeframe (I don't believe they would be immortal). I don't believe aliens are magic. So its "yes, but we can't meet them".

We could potentially know of them (at some point in their history) & vice versa, but that would be an Omae Wa Mo Shindeiru situation from the perspective of the observer.