The answer to both your questions is yes! The typical dining seating arrangement was three couches surrounding a single small table in a U shape. They would lean on their left elbows and eat using their right hands. The tables were small and low—we might call it a coffee table today—and they usually had three legs.

The Getty Museum has a nice overview with some diagrams and demonstrations of what a Roman dinner looked like. http://blogs.getty.edu/iris/reclining-and-dining-and-drinking-in-ancient-rome/