If I delete from iCloud drive do the files remain on my hard drive?

See the article https://support.apple.com/en-in/guide/mac-help/mchl1a02d711/mac

Move items to your Mac and remove them from iCloud Drive

• On your Mac, drag items from iCloud drive to another folder in the Finder sidebar or on the desktop, such as Downloads, Movies, Music and Pictures. 
• The items are copied to your Mac and removed from iCloud Drive on all your devices set up for iCloud. If you change your mind, you can drag items back to iCloud Drive.

In finder > under iCloud section > iCloud Drive if there are folders and files and you right click on them and move to bin , they will be moved to the trash of Mac .

And they will not remain on Mac HD .