Not directly. In order to deliver any pop up support while a record is in Edit mode, user will have to leverage the Sidebar Component.
- Sidebar components are only visible in Salesforce Classic.
- Sidebar components are globally visible across all records and objects, even when a record is in "Edit" mode.
To make the Co-Pilot Sidebar Inline helper visible go to Setup > Customize > Home > Home Page Layouts > then click on "Edit" for each Home Page Layout that you wish to display the Co-Pilot Sidebar Component