Yes.
But slavery was also authoritarian.
Any situation where there is a power imbalance that can be enforced through physical or psychological means that somebody doesn't agree with is authoritarian. Employer/employee? Authoritarian. Parent/infant? Authoritarian. Bank/bank customer? Authoritarian. Doctor/patient? Authoritarian.
Probably the only reasonable definition of authoritarian would be something like, "To be ruled/governed by an authority." I've decided that Bill over there gets to be in charge of things, they're the authority. I don't always agree with the decisions they make but they're in charge. Which seems like it would overlap a bit with the idea of democratic centralism.