Yes, the Norse called them Skraelings. The relationship between the Norse and the skraelings appears to have been mostly belligerent until the abandonment of the Greenland colonies.

Quoting myself from a previous answer to a similar question:

The Norse likely interacted with three different groups of Native Americans: the Dorset Paleo-Eskimo people, the Thule Eskimo people and the ancestors of the Beothuk people. They called the people of North America 'Skraelings'.

There are very few accounts of their meeting, though we know that the Dorset and Thule lived in Greenland during the same period that the Norse had colonies there (even in the same fjords) so they likely interacted somewhat beyond what we know from the sagas.

The Greenlander's Saga and Erik the Red's saga both tell pretty much the same story, with some minor differences. They reference a few meetings (most not very pleasant) between the natives and the Norse. They say that Lief Erickson's brother, Thorvald, and his men killed eight men they found in Markland and were subsequently attacked by men in skin boats, during which Thorvald himself was killed by an arrow.

A few years later an Icelander, Thorfinn Karlsefni, while setting up a colony in Vinland (maybe modern-day Newfoundland), were approached by people who came out of the forest to trade furs for weapons. Thorfinn refused to trade them weapons, trading only with milk. The natives returned to trade a year later, but one of them was killed by the Norse when he tried to steal a weapon. The natives then attacked and forced Thorfinn to abandon the colony. We are told that Thorfinn's crew captured two native boys and brought them back to Greenland to be baptized.

Another (mostly fictional) saga relates a tale of two Norse men who encountered some (likely Dorset) people in eastern Greenland. Starving, the Norse encountered two "witches" butchering a sea mammal they pulled from a hole in the ice and attacked them and stole the animal for food.

All other references that records make to native North Americans were from later and likely refer to Thule Eskimo immigrants to Greenland. Most of these records show conflict more than cooperation; a chronicle mentions an attack on a Norse settlement in 1379 in which 13 Norse were killed and two boys and a woman captured. But, it must be said, they did live fairly close to each other for quite a long time, so there was some contact that wasn't violent. One story tells of a Norse man saving two Skraeling children who then served him faithfully for two years but then killed themselves when he departed for Iceland. There is actually a shared traditional story (which includes an Eskimo girl working on a Norse farm and friendly archery contests) between the Norse and Thule people, as they lived side-by-side for over a century.

You'll probably find this post interesting; it contains a summary of a few Inuit stories concerning the first Norse settlers of Greenland.