Yes, the ‘Enable Discourse Comments’ setting should do what you are looking for. The setting is found on the plugin’s Commenting options tab. When you enable that setting, you should see two more options. The ‘Display comments’ option will display a selection of Discourse comments underneath the post. The ‘Display a link to the comments’ option will Display a link to the Discourse topic, without displaying the comments on WordPress.
For either of these settings to work, comments must be enabled for the WordPress post.