Most of the time the answer is a resounding YES!  Every licensed driver must be listed on your auto insurance policy that resides in your household.  The only exception to this rule with some insurance companies is if there is a driver in the household that has thier own insurance policy already in place.  Young drivers in the household must be listed on the policy until they get thier own insurance policy or until they move out of the house.  Even then most companies will ask for proof of a different residence address, such as a utility bill.