No, not exactly 
All messages are already replicated into all cluster nodes before the messages are acknowledged to the sender. As soon as the receiver reconnects to a new node, the messages are passed to him. The standard libraries delivered and IS do failover automatically if correctly configured. If the node come up again, the messages which are then in the queue will get synched to all nodes again, but usually that is not the same messages as at the time of the failure.
This means, as long as one node stays alive, you do not loose any messages (you need quorum for the messages to be delivered though). Guaranteed messages are persisted to disc, so those are not lost even if all nodes go down, as long as your disc is reliable enough.
#Integration-Server-and-ESB#webMethods#Universal-Messaging-Broker