Yes, on at least three occasions.
Know what happens when a character who is most known for only saying "I am Groot" gets Venomized? Well, Guardians of the Galaxy #21 (2014) has your answer.
He says "I am Venom".
Another time was in Venom: Along came a Spider #1 (1996). Eddie Brock disguises himself as detective Clark from the NYPD (using the Symbiote), ...
It is not part of the MCU
In a live Facebook interview with French website, AlloCiné (that we managed to transcribe) Feige revealed that we won’t be seeing Holland and Hardy go toe-to-toe in the Marvel Cinematic Universe.
When asked about a potential appearance Feige explained:
“For now, there is NO plan for Venom in the MCU. It’s a Sony Project....
They wanted to be captured so it was easy to get them.
From an IGN interview with the VFX supervisor Paul Franklin, he says:
"We see, at the beginning of the film, the moment when the symbiotes are collected up by a Life Foundation space probe which finds them on a comet drifting through space, approaching Earth".
And as further said by Franklin,
In the Venom movie, Venom has never encountered Spider-Man (who as far as we can tell may not even exist), and, as such, has no access to his powers or normal modes of doing things. The only reason Venom shot webs or wall-crawled in the same way as Spider-Man was because he was making himself useful by producing what he needed (webbing) and also, through ...
The symbiote can mimic Spider-Man's powers, but does not necessarily duplicate them exactly.
Instead of given its host actual organic webbing (or, in the comics and the newer movies, mechanical webshooters), the symbiote uses its own body to mimic webbing.
It may allow the host to use feet and fingertips to crawl up a wall, as Peter Parker can do. However, ...