Yes, but A: Cap has the slightly unfair advantage of the Super-Soldier Serum treatment, which gives him, I think, slightly higher strength and stamina than your average Olympic athlete, and B: Batman learned his skills through travelling the world and finding teachers. Cap learned his skills by being plunged into the thick of WW2. In his early career, Bats had to go up against street-level punks, crooked cops, and supervillains - Cap had to go up against trained soldiers, usually several dozen at a time, not to mention, of course, the likes of the Red Skull and Baron Zemo. A lot of time has passed, of course, so the scales are a bit more even now, but I don't think saying that Cap has a slight edge on Bats in hand-to-hand combat is particularly unfair. It's not necessarily saying that Cap would WIN, just that he COULD win.