Kind of - they wanted in on being a colonial power (just like Great Britain, France, the Netherlands, the US, etc), and saw the Asia-Pacific region as "their" sphere of influence. There were some competing claims from the US, but the larger issue was the total oil and steel embargo that the US had placed on them, which they felt jeopardized their existence as a nation (or at least as the colonial power they saw themselves as). That was the main reason for Japan's entry into WWII - they wanted to secure supply lines and establish their colonial sphere. Attacking Pearl Harbor was meant to cripple the ability of the US Navy to do anything about it - at least for long enough to establish bases and a secure foothold. Unfortunately for them (and fortunately for us), they missed the carriers (purely by chance/poor intelligence) and underestimated the resolve of the US as a nation.