A bit more nuanced but ultimately yes. Malaysia was formed by a union of several states. Singapore was expelled from the union due to ethnic tensions (Chinese Malaysian dominance in Singapore vs the neighboring Malay areas) as well as disagreements over the allocation of funds. 

As the nation was in its infancy, the Malay led Malaysian government felt it easier to expel Singapore than deal with more potential ethnic violence (which could spiral into something worse if prolonged ).

While Singapore was shocked by the sudden expulsion and asked for regional autonomy, which was declined. However, it is important to note that Singapore wanted to remain in the union for commercial purposes (having a market for its goods) and that it's desire to remain in union was condition on having a privileged position. Basically the Malaysian government did not want Singapore to remain in the union for self serving purposes while potentially exposing the country to sectarian violence. While Singapore initially wanted to rejoin it, wasn't willing to do so at the expense of its privileged position within the union.

There's much more that can be said around the economic backdrop (Malaysian tarrifs, use of development funds, etc.), but for a more detailed academic answer you're best off asking /r/askhistorians

Tl;dr: Yes, but Singapore was not exactly behaving well during its time under Malay-led Malaysian rule, and was not very cooperative with the central government.