Not at all. HATEOAS is about defining data formats that the client and server agree on ahead of time.

Browsers running Javascript referenced from HTML is a perfect example of HATEOAS, for example. browsers and web server creators agreed on the semantics of these two data formats, and now any browser in the world can talk to any web server in the world and display what was intended to be displayed to the user.

If the web design hadn't been HATEOAS, you'd need server specific code in your browser, like AOL had a long time ago, where your browser would know how to look up specific parts of the AOL site and display them. This is also how most client apps are developed, since both the client and the server are controlled by the same entity, and there is no problem in hardcoding URLs in the client.