Yes, that is the definition straight from the horse's mouth, so to speak.
I think "free beer" would be better referenced as "something of value that is given away" when speaking of software.
If you brought a six-pack of beer to your neighbor, saying "Here, I thought you might like some!", he'd most likely appreciate the gesture.
So, straight freeware would be free in that sense.
It has value, it does something useful for the user, but it doesn't cost anything.
The whole concept of "free as in free speech" as Richard Stallman envisions it has more to do with the state of mind of a programmer, researcher or hacker.
He wants to be able to learn and share what is learned with others in order to improve the computer-scientist ecosystem.
Freeware isn't free in that sense because while you're free to use it, you don't have the freedom to learn from it, improve it, or fix it's bugs if you have the ability.