Yes, DHCP is strictly IPv4.
With IPv6, clients may use Stateful or Stateless DHCPv6 or SLAAC/NDP to acquire network information like gateways and DNS servers along with their IPv6 addresses. The actual choice may be limited by a client's OS as well as its specific configuration (e.g. Android does not support DHCPv6 at all and uses SLAAC exclusively).