Yes! You own your domain!
However, before initiating the transfer make sure that the following applies to the domain:
The domain is more than 60 days old;
The domain was not transferred between registrars within the last 60 days;
The domain is "Unlocked" for transfer ("Registrar Lock" is disabled);
WhoisGuard is disabled;
The domain is showing valid and up-to-date information for the Administrative and Registrant contacts in the WHOIS.
