Yep, and even when talking about living things it's not a clear distinction.

In biology, poison is a substance that causes harm when an organism is exposed to it. Venom is a poison that enters the body through a sting or bite. In a bunch of medical fields though, poisons only apply to toxins that are ingested or absorbed through the skin and that definition sometimes carries across to zoology.

Venomous creatures are poisonous by most definitions because venom is a poison. But if the distinction is useful in a medical or zoological context then they're not.

tldr: The pedantry of eg. correcting someone who says a snake is poisonous is totally pointless and mostly wrong.